Write once for help files (HTML) and for printed books (Word doc)?

Hello. I have written a manual in Word (Word X for OS X). Fine. I would
like to put some of that material into the Help files for a Windows
program. The Help format is HTML. Yay! Of course I hate the HTML that
Word X produces, so I don't view saving portions of the manual as HTML
to be an option.

That said, here is what I want to do. Does anyone know the best way?

a) I'd like to work on a document where all of the mark up is text. I
figure this should be an HTML document with style sheets.  (I suppose
it could be an XML doc, but I don't know much about XML yet...) 

b)  I'd like to import this document into a program that produces a
good printed manual. For example, Word **should** be able to import an
HTML doc , paginate it, and print it. What Word does that a browser
cannot is give me fine control over pagination. (I like to control
whether a paragraph gets broken by a page break or not.)

c)  I'd like to cut out portions of this document and paste them into
my Help HTML files. If necessary, I can translate them into HTML. (Mind
you, I still havne't used this XSLT insanity...)

By having a text file as the source of all my products, I can happily
use Perl & any ole text tool to work on my content. I can edit the
source once and not have two different versions of the manual. 

Well, what's the solution? If you agree that I can use Word, how do I
properly style the text? I tried saving my current Word doc as HTML to
look at its styles, but they seem to be half-formed XML that I don't
really understand. The crud doesn't even validate (well, that's not
really surprising). I don't have Quark 6 or InDesign; dunno if I could
get it.

Anticipating your advice.
--complex

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Note:  Any HTML I've typed probably contains 
spaces or periods to break it in HTML-capable mail readers. 
(e.g.   <.H1>Like This< /H1>  )

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