MapServer support tile generated both Google Map version or Microsoft Bing Map version.
Please check documentation as pointed by @zachatrocity to make sure that your MapServer support PROJ.
That documentation had been written in 2008/04/30, and it's not supported by Google Map JavaScript API anymore.
Current documentation about using your own MapServer tiles as overlay can be found here:
https://developers.google.com/maps/documentation/javascript/examples/maptype-base
Follow that sample, but you need to change getTile function provided there into your own tile:
CoordMapType.prototype.getTile = function(coord, zoom, ownerDocument) {
var url = "http://[change this into your mapserver ip]]/cgi-bin/mapserv.exe?";
url += "map=/path/to/your/mapfile.map&";
url += "mode=tile&"; // you need this!
url += "layers=yourLayer&";
//url += "layers=layer1 layer2&";
url += "tilemode=gmap&"; // you need this
url += "tile=" + coord.x + " " + coord.y + " "+zoom; // and this
var myMapServerTile = ownerDocument.createElement('img');
myMapServerTile.src= url;
return myMapServerTile;
};
see modified preview here