Try Boost.Test (we use it with VS 2005 and I think it's great).
I'm not sure how well it'd work w/rgd to integration, but we use a simple post-build steps to execute the unit tests and that should work in VC6 as well.
While current boost releases no longer officially support MSVC-6, we here use boost 1.34.1 for regular expressions in VC6 and VC8. We do not use the testing framework in VC6, but I checked our build directory and we do build the testing framework for VC6 as well. (because we build regex for both VC6 and VC8, the script just builds test as well)
Since the Boost testing framework seems to mostly rely on macro magic (as opposed to template magic) you might actually stand a good chance even a current version of it is working in VC6.