The latest version of Inkscape supports PDF+LaTeX export. The graphic itself is exported as PDF, but all text can be put into a
.tex file. This way all the text appears in your document font.
The latest Inkscape version can be found on the SourceForge Project site (v0.48).
There is also a free article about the export on CTAN: How to include an SVG image in LaTeX.
From that article, the quickest way to get this done is:
inkscape -D -z --file=image.svg --export-pdf=image.pdf --export-latex
Then include the generated TeX file, which will automatically import the image:
Be aware that this uses
\includegraphics to insert the graphic, so you need to include
graphicx in your document.
Further, here are two good things that I found over time of using this feature. Both are mentioned in the linked pdf, but I missed those hints for quite some time.
When you insert text, there is a little square in the textbox which shows you the alignment of the text. For example if you want to have an arrow pointing from your text to an object, make sure the justification is correct.
For some time I was thinking, that text could not handle line breaks, but it is possible if you flow text into a shape. Draw a rectangular shape, write some text, select both and then go in the text menu to "Flow into frame". The shortcut for this is Alt + W.