A quick grep through the Tomcat 6 source code shows that it uses several classes that are not part of Android (like ImageIO and several classes of the java.beans package, and probably others). So it won't work without some effort on your part.
If you are a truly frothing-at-the-mouth geek, you can pull the sources to the open-source JDK system, do a native-code compile, root your Galaxy, and install it as a binary app. However, I still don't have much faith in the open-source Java system, since for a long time it wasn't up to the heavy-duty requirements of J2EE.
I have Installed i-Jetty on my old Android Dev-1. It runs just fine.
Also I have downloaded and installed a Sample Application ported to Android provided by HybridServerPages.com (HybridJava) and installed it under i-Jetty on Android.
That runs too!