I'm in the same boat as the OP and here's what I came up with - not the most seamless, but it seems to work for me.
I downloaded xmarks for google chrome and internet explorer and created a free account with them. Since itunes/icloud will only sync bookmarks with either safari or IE, I went the IE route because xmarks does not make a sync program that works with safari on a PC (only a mac OS). When installing xmarks for IE it actually creates a program that resides in the lower right corner of windows in the notification area, so there's no need to actually run IE. Xmarks for Chrome installs directly into the toolbar of Chrome. So the workflow I go through is like this: browse with chrome; bookmark a site a like thru chrome; when done browsing and/or end of day, sync bookmarks with xmarks w/i chrome; go to xmarks for IE in windows notification area and make sure it has synced all changes. At this point, icloud picks up all the bookmarks and flows them down to my my iPhone and iPad. Some of this syncing with xmarks, is supposed to happen automatically in the background, but I've had mixed success with it, so I follow this routine if I want to be sure I get the bookmarks across. Quite a convoluted process, but it seems to work for me. Let me know if you have any questions.
Now, having said that, I'm actually thinking of switching to safari as my PC browser, because I think it would make this a lot more seamless. I also like the reader function in safari and the reading list. Decisions, decisions........