With some HTML like this:
Some Text
Then some CSS like this:
p {
color:black;
}
p:hover {
color:red
Without device (or rather browser) specific JS I'm pretty sure you're out of luck.
Edit: thought you wanted to avoid that until i reread your question. In case of Mobile Safari you can register to get all touch events similar to what you can do with native UIView-s. Can't find the documentation right now, will try to though.