I recently inherited a site that was designed in frames by another developer.
They did not add no-index tags and as a result the frames were actually crawled. Anyway, not to loose those pages, I just named the new tabled pages the same.
To remove the cached pages from Google, I signed up and used the following to remove the pages from Google:
http://www.google.com/remove.html
That works for Google but necessarily for the other bots. For other bots I would suggest you do as suggested in these posts - either redirect or a robots.txt file or custom made error 404 page.
The big question would be whether or not you wish to maintain that specific page in which case you replace the content or get rid of it completely.