Something like this should work in most browsers IIRC. However, you will need some sort of javascript if you want a header/footer unless you use faux columns. For an RIA I think this is acceptable.
Personally, I never use CSS frameworks.
The example below should also work in IE6:
<html>
<head>
<link rel="stylesheet" type="text/css" href="http://yui.yahooapis.com/3.2.0/build/cssreset/reset-min.css" />
<style type="text/css">
html, body { height:100%; }
.left {
width:200px;
display:inline;
float:left;
background:blue;
height:100%;
}
.right {
width:200px;
display:inline;
float:right;
background:red;
height:100%;
}
.center {
margin:0 200px;
height:100%;
}
</style>
</head>
<body>
<div class="right">test</div>
<div class="left">test</div>
<div class="center">test</div>
</body>
</html>