This is from a site. I can't confirm if the ability has been removed in iTunes 10.5.
1. Connect iPad/iPhone to your computer.
2. Open iTunes, in iTunes, select iPad/iPhone in the Device section from the sidebar.
3. Click the Info tab, select “Sync Safari bookmarks” under Other, then click Apply to sync the bookmarks between your iPad Safari and the Safari on your Mac.
iTunes lets you choose the content and information that you want to sync with iPad. By default, iTunes syncs automatically whenever you connect iPad to your computer. When you sync, you can also transfer information you create or purchase on iPad to your computer.