Federer and Wawrinka defeated Gasquet and Benneteau 6-3, 7-5, 6-4 to give Switzerland a 2-1 lead over France on Saturday.
"It was like leaving a Ferrari in the grarage," said the Czech who won the decisive singles to win the Davis Cup.
The pair of Berdych and Stepanek beat Serbia's Zimonjic and Bozoljac 6-2, 6-4, 7-6 on Saturday.
Tipsarevic beat Pospisil 7-6 (3), 6-2, 7-6 (6) to send Serbia into the final against the Czech Republic, which beat Argentina at home.
Czechs are aiming to become the first country in 22 years to win men's and women's team titles in the same season.
Nalbandian and Schwank eased to a 6-4, 6-2, 6-3 victory over Verdasco and Lopez.
David Ferrer rallied for a grueling 6-2, 6-7 (2), 3-6, 6-4, 6-3 victory over Juan Martin del Potro.
The Davis Cup final between Spain and Argentina gets underway at Seville on Friday.
Serbia scripted a 3-2 combeback win over France to win their first-ever Davis Cup title.
Serbian Djokovic beat France's Gael Monfils 6-2., 6-2, 6-4 to put hosts on the verge of their first Davis Cup triumph.
France rallied from two sets down to stun host Serbia in the doubles match.
Monfils predicted after Thursday's draw that Tipsarevic would be nervous and those words proved prophetic.
Russia won their second Davis Cup title on Sunday, with Marat Safin beating Jose Acasuso of Argentina in the decider.
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