I'm using webapp2 Authentication system for my entire application. So I tried to reuse this for Google Cloud Authentication and I get it!
webapp2_extras.auth uses webapp2_extras.sessions to store auth information. And it this session could be stored in 3 different formats: securecookie, datastore or memcache.
Securecookie is the default format and which I'm using. I consider it secure enough as webapp2 auth system is used for a lot of GAE application running in production enviroment.
So I decode this securecookie and reuse it from GAE Endpoints. I don't know if this could generate some secure problem (I hope not) but maybe @bossylobster could say if it is ok looking at security side.
My Api:
import Cookie
import logging
import endpoints
import os
from google.appengine.ext import ndb
from protorpc import remote
import time
from webapp2_extras.sessions import SessionDict
from web.frankcrm_api_messages import IdContactMsg, FullContactMsg, ContactList, SimpleResponseMsg
from web.models import Contact, User
from webapp2_extras import sessions, securecookie, auth
import config
__author__ = 'Douglas S. Correa'
TOKEN_CONFIG = {
    'token_max_age': 86400 * 7 * 3,
    'token_new_age': 86400,
    'token_cache_age': 3600,
}
SESSION_ATTRIBUTES = ['user_id', 'remember',
                      'token', 'token_ts', 'cache_ts']
SESSION_SECRET_KEY = '9C3155EFEEB9D9A66A22EDC16AEDA'
@endpoints.api(name='frank', version='v1',
               description='FrankCRM API')
class FrankApi(remote.Service):
    user = None
    token = None
    @classmethod
    def get_user_from_cookie(cls):
        serializer = securecookie.SecureCookieSerializer(SESSION_SECRET_KEY)
        cookie_string = os.environ.get('HTTP_COOKIE')
        cookie = Cookie.SimpleCookie()
        cookie.load(cookie_string)
        session = cookie['session'].value
        session_name = cookie['session_name'].value
        session_name_data = serializer.deserialize('session_name', session_name)
        session_dict = SessionDict(cls, data=session_name_data, new=False)
        if session_dict:
            session_final = dict(zip(SESSION_ATTRIBUTES, session_dict.get('_user')))
            _user, _token = cls.validate_token(session_final.get('user_id'), session_final.get('token'),
                                               token_ts=session_final.get('token_ts'))
            cls.user = _user
            cls.token = _token
    @classmethod
    def user_to_dict(cls, user):
        """Returns a dictionary based on a user object.
        Extra attributes to be retrieved must be set in this module's
        configuration.
        :param user:
            User object: an instance the custom user model.
        :returns:
            A dictionary with user data.
        """
        if not user:
            return None
        user_dict = dict((a, getattr(user, a)) for a in [])
        user_dict['user_id'] = user.get_id()
        return user_dict
    @classmethod
    def get_user_by_auth_token(cls, user_id, token):
        """Returns a user dict based on user_id and auth token.
        :param user_id:
            User id.
        :param token:
            Authentication token.
        :returns:
            A tuple ``(user_dict, token_timestamp)``. Both values can be None.
            The token timestamp will be None if the user is invalid or it
            is valid but the token requires renewal.
        """
        user, ts = User.get_by_auth_token(user_id, token)
        return cls.user_to_dict(user), ts
    @classmethod
    def validate_token(cls, user_id, token, token_ts=None):
        """Validates a token.
        Tokens are random strings used to authenticate temporarily. They are
        used to validate sessions or service requests.
        :param user_id:
            User id.
        :param token:
            Token to be checked.
        :param token_ts:
            Optional token timestamp used to pre-validate the token age.
        :returns:
            A tuple ``(user_dict, token)``.
        """
        now = int(time.time())
        delete = token_ts and ((now - token_ts) > TOKEN_CONFIG['token_max_age'])
        create = False
        if not delete:
            # Try to fetch the user.
            user, ts = cls.get_user_by_auth_token(user_id, token)
            if user:
                # Now validate the real timestamp.
                delete = (now - ts) > TOKEN_CONFIG['token_max_age']
                create = (now - ts) > TOKEN_CONFIG['token_new_age']
        if delete or create or not user:
            if delete or create:
                # Delete token from db.
                User.delete_auth_token(user_id, token)
                if delete:
                    user = None
            token = None
        return user, token
    @endpoints.method(IdContactMsg, ContactList,
                      path='contact/list', http_method='GET',
                      name='contact.list')
    def list_contacts(self, request):
        self.get_user_from_cookie()
        if not self.user:
            raise endpoints.UnauthorizedException('Invalid token.')
        model_list = Contact.query().fetch(20)
        contact_list = []
        for contact in model_list:
            contact_list.append(contact.to_full_contact_message())
        return ContactList(contact_list=contact_list)
    @endpoints.method(FullContactMsg, IdContactMsg,
                      path='contact/add', http_method='POST',
                      name='contact.add')
    def add_contact(self, request):
        self.get_user_from_cookie()
        if not self.user:
           raise endpoints.UnauthorizedException('Invalid token.')
        new_contact = Contact.put_from_message(request)
        logging.info(new_contact.key.id())
        return IdContactMsg(id=new_contact.key.id())
    @endpoints.method(FullContactMsg, IdContactMsg,
                      path='contact/update', http_method='POST',
                      name='contact.update')
    def update_contact(self, request):
        self.get_user_from_cookie()
        if not self.user:
           raise endpoints.UnauthorizedException('Invalid token.')
        new_contact = Contact.put_from_message(request)
        logging.info(new_contact.key.id())
        return IdContactMsg(id=new_contact.key.id())
    @endpoints.method(IdContactMsg, SimpleResponseMsg,
                      path='contact/delete', http_method='POST',
                      name='contact.delete')
    def delete_contact(self, request):
        self.get_user_from_cookie()
        if not self.user:
           raise endpoints.UnauthorizedException('Invalid token.')
        if request.id:
            contact_to_delete_key = ndb.Key(Contact, request.id)
            if contact_to_delete_key.get():
                contact_to_delete_key.delete()
                return SimpleResponseMsg(success=True)
        return SimpleResponseMsg(success=False)
APPLICATION = endpoints.api_server([FrankApi],
                                   restricted=False)