I have an SGS with Froyo. I can't seem to find the browsing history in the stock browser. I'm also only able to access bookmarks (or favorites, or shortcuts) from inside the browser.
How can they be accessed?
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On my Samsung Fascinate I click on this button next to the address bar:
And it takes me to this screen, which also has a History tab (top-right):
The functionality shown above is also available to me on CyanogenMod 7, leading me to think that it's a feature of the stock browser (i.e. not added by Samsung).
Note this is "one way" to get there on a true stock android browser. Samsung, for some reason, removed the Bookmarks menu item. eldarerathis' answer will work for both Stock and the TouchWiz (Samsung) versions of the browser.