Been looking into these as well.
As I understand it, the only way to get around the FHA's mortgage insurance is to have both:
1) a LTV below 90% AND
2) a term of 15 years or less.
So there is no way to get a 30 year FHA mortgage without insurance. If you can swing a 15 year, then it can be done with the right down payment.
As a side note, the FICO score requirements for PMI don't apply to FHA because the FHA mortgage insurance isn't technically PMI (provided by an outside insuror) - it's their own in-house insurance. If you qualify for FHA at all, you qualify for their insurance.