I would not use KML. Instead, use GeoJSON which you can natively consume in Google Maps API now. It is a newer feature that didn't exist from the original responses.
In any case, simply open the SHP file in Quantum GIS, and then you can output it in any format you like (KML, GeoJSON).
If you are using Google Maps for Work, I found a premium extension that handles loading shapefiles directly where you can just connect direct to the shapefile that you generate from ESRI. I did a search on the CMaps site and found this snippet which loaded US by state shapefile: https://gmapsplugin.net/cmapsanalytics/assets/shapes/usstates.shp
var cMap = new centigon.locationIntelligence.MapView();
cMap.key([your_api_key]);
cMap.layerNames(["Basic Shapes"]);
cMap.dbfKeys([['Alabama','Alaska','Arizona','Arkansas','California','Colorado','Connecticut','Delaware','District of Columbia','Florida','Georgia','Hawaii','Idaho','Illinois','Indiana','Iowa','Kansas','Kentucky','Louisiana','Maine','Maryland','Massachusetts','Michigan','Minnesota','Mississippi','Missouri','Montana','Nebraska','Nevada','New Hampshire','New Jersey','New Mexico','New York','North Carolina','North Dakota','Ohio','Oklahoma','Oregon','Pennsylvania','Rhode Island','South Carolina','South Dakota','Tennessee','Texas','Utah','Vermont','Virginia','Washington','West Virginia','Wisconsin','Wyoming']]);
cMap.userShapeKeys([['Massachusetts','Minnesota','Montana','North Dakota','Hawaii','Idaho','Washington','Arizona','California','Colorado','Nevada','New Mexico','Oregon','Utah','Wyoming','Arkansas','Iowa','Kansas','Missouri','Nebraska','Oklahoma','South Dakota','Louisiana','Texas','Connecticut','New Hampshire','Rhode Island','Vermont','Alabama','Florida','Georgia','Mississippi','South Carolina','Illinois','Indiana','Kentucky','North Carolina','Ohio','Tennessee','Virginia','Wisconsin','West Virginia','Delaware','District of Columbia','Maryland','New Jersey','New York','Pennsylvania','Maine','Michigan','Alaska']]);
cMap.labels([['Massachusetts','Minnesota','Montana','North Dakota','Hawaii','Idaho','Washington','Arizona','California','Colorado','Nevada','New Mexico','Oregon','Utah','Wyoming','Arkansas','Iowa','Kansas','Missouri','Nebraska','Oklahoma','South Dakota','Louisiana','Texas','Connecticut','New Hampshire','Rhode Island','Vermont','Alabama','Florida','Georgia','Mississippi','South Carolina','Illinois','Indiana','Kentucky','North Carolina','Ohio','Tennessee','Virginia','Wisconsin','West Virginia','Delaware','District of Columbia','Maryland','New Jersey','New York','Pennsylvania','Maine','Michigan','Alaska']]);
cMap.polyDataSources([centigon.locationIntelligence.CMapAnalytics.DATA_PROVIDERS.SHAPE_DATAPROVIDER]);
cMap.layerTypes([centigon.mapping.Layer.TYPE.POLY]);
cMap.locations([["https://gmapsplugin.net/cmapsanalytics/assets/shapes/usstates.shp"]]);
cMap.panTo("USA");
cMap.zoomLevel(3);