Yes our basement is heated. We are in the process of finishing it ourselves - prior to that it was a cement slab with some reflective insulation nailed to the walls. There were still two forced-air vents blowing into the basement, but with all the exposed cement it was pretty wasteful in my mind.
Now that we've properly insulated the walls and added a subfloor, those same two vents provide much more bang for the buck. In addition I put a wood stove down there which has been very effective. Even with temps in the 30s outside, I'm able to keep the entire house at around 60 degrees (two stories, 3500 sqft) just by leaving the door to the basement open. Air literally blows up the stairway. I put it down there primarily to heat just the basement as well as ambience, but it's been a pleasant surprise. With a subfloor, the ground temp is around 70 degrees when I'm running the stove. Compare this to the old slab temp in the low 50's in the winter, that's a huge energy savings.
I guess the moral of the story is that if your basement is completely insulated then it would probably be ok to heat it, but if the walls and floor are not then you're wasting a lot of money trying to heat it.