Please note that I have never done this, as I do not use itunes.
Apparently, it is possible to drag and drop tune-by-tune from itunes to your device.
I believe that you can use DoubleTwist
to sync your device with itunes or even AirSync
which works with DoubleTwist to sync wirelessly.
I have even found a video on how to do it, but cannot watch it to see how good it is at the moment (YouTube is blocked on the network I'm on at the moment):
Copy iTunes to Droid the Easy Way - YouTube