I'm proportioned pretty similarly to you- I am right at 5'8, with a 34 inch inseam. My arm reach is actually longer than my height by a good two inches, so I'm a little freaky that way. To make matters even more interesting, my torso is REALLY short- partially due to mild scoliosis. I like to joke that the genetic mixing of my parents didn't go so smoothly (one is 5'4, the other 6'6).

To make a long story short, the frame I was most comfortable on is a Cannondale WSD R500 (I think it's called the Synapse now), size 56. The seatpost is in a good position, and the reach to the handlebars is comfortable (about 54.5 cm according to the spec charts) http://www.cannondale.com/bikes/05/geo-17.html

However, I do occasionally get toe overlap with the front wheel.