"Rolling without slipping" means that the point-of-contact has an instantaneous velocity of zero. There is no sliding there... hence no sliding friction.
G, traveling with constant velocity, is the green line
B (in blue) is the rotation of a point around the wheel axis--that point is initially in contact with the ground
A (in red) is the superposition of the two motions...
\]<br />
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\[
Note that A has zero velocity when it makes contact with ground.
Of course, A is just representative of one point on the wheel.
Each point has it own set of curves, slightly displaced in time from A.
For this to happen, v_G=\omega R.