I just visited a Bitcoin ATM at Hacker Dojo in Mountain View. It did not require any sort of identification whatsoever - it just took cash and gave you bitcoin, either on a paper wallet or a provided address.
There are a bunch here http://www.coindesk.com/technology/bitcoin-atm/
You can also look in the map http://coinmap.org/
And most of Coinkite's public retailer's that sell bitcoin https://coinkite.com/locations/
EDIT, since I can't reply to nvk's message below mine: that link just has a bunch of press releases and a map, it does not help to answer the question of what identity requirements those ATMs have. Robocoin did not exactly advertise these requirements loudly in their PR either.