"but not from the dailer"
which dialer u mean about it? skype's or the phone's? if you make calls from skype's dialer, then ofc, u have to pay for it. just like dialing from the phone's dialer. the differences beetwen the two method is the company who gets ur money.
(if u use 3g, then both of them get money
if u want to make a voip call then click on the green call icon - in the skype contact list - next to the person's name, and that's all. Note, that it will only be voip, if the person who called has a skype account too, just like you, and NOT a ordinary phone number associated his/her account.