I use Evernote, simply because it was easy to find and free, and I started out using it on my MacBook. But I just set up my Nook Color as an Android Tablet (SD card method) and I downloaded Evernote from the Android market, logged, in synced, and in less than a minute, all my notes were there.
However, these notes were not, of course, highlighted from a book or paper, but I have taken stuff from websites, and any documents I have (copy and paste). I don't know that this will really suit your needs, but it might be something to investigate, anyway.
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