Maybe the Tomcat documentation does not say explicitly that Tomcat 5.5 runs on Java 6, but I've been running it on Java 6 (on Windows Vista) and it works without problems, so it should work just fine on Java 6.
[2007-10-04 10:01:42] [174 javajni.c] [error] The specified module could not be found. [2007-10-04 10:01:42] [947 prunsrv.c] [error] Failed creating java C:\Program Files\Java\jdk1.6.0_01\jre\bin\server\jvm.dll
So, is the named file there? If not, is the path correct up to that point? Maybe you have a different patchlevel installed, or it's installed somewhere else? Maybe your "jre" directory is missing? Maybe the file is there, but not accessible (Windows does have some kind of access control, doesn't it?)