A Tor relay operators IPv6 HOWTO
In Oct 2012, support for clients connecting to relays as well as relays publishing IPv6 addresses and accepting clients connecting over IPv6 had been implemented. As of Jan 2013, there is also support for exiting to IPv6 destinations. See Tor on IPv6 road map for more detailed information about which versions of Tor that support different aspects of Tor on IPv6.
UPDATE: The meat of this page has moved to the wiki. Enjoy!