I tried the Python examples from the article that AlexanderMerz pointed to, but the bluetooth module required by the examples is not available on the Galileo. I tried downloading and installing the PyBluez-0.18.tar.gz, but that failed because the build tries to run i586-poky-linux-uclibc-gcc which doesn't exist on the Galileo SD image either.
I'm hoping that I don't have to build a custom SD image to accomplish this... Any other helpful hints from anyone?