"wirble"; is a nice gem that does the job :)

1. install the gem

> gem install wirble
Successfully installed wirble-0.1.2
1 gem installed
Installing ri documentation for wirble-0.1.2…
Installing RDoc documentation for wirble-0.1.2…

2. start irb
irb

3. load the gem in irb
require ‘rubygems'
require ‘wirble'
Wirble.init
Wirble.colorize

Syntax highlighting seems to be borked for MS powershell and the vista command promt, tab completion works like a charm though.
You can have irb automatically load wirble by adding the stuff from 3. to your /.irbrc

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