I take my kids' prescription meds (including inhalers) with no problem. I do take them in their boxes with the prescription printed on them, place all of the prescription medications in one ziploc bag (had to use a gallon sized bag), and put the bag through the screening process just like it's a bag of liquids.
I put our OTC medicines in the checked luggage, but no way do I trust the airlines with my kids' asthma meds.