There’s an extension for Firefox called Twinklefox. However it doesn’t run under FF 3.5. I’ve bumped the version in install.rdf, but twinkle won’t get called correctly none the less.
I browsed FF’s settings and … made a little wrapper script to call twinkle:
$ cat /usr/local/bin/twinkle_callto
#!/bin/sh
#
# firefox will call twinkle_callto like this:
#
# twinkle_callto callto:+41812528006
number=`echo "$1" | sed 's/callto://'`
exec /usr/bin/twinkle --call "$number"
There you go. Very easy.
Go to Preferences->Applications and add this script to handle “callto” URLs. That’s it. You will be able to click on a callto: URL and be handed over to Twinkle.