Is there any way to sync my Firefox bookmarks with Android?
I believe Fennec (Firefox mobile) will have this feature, but it is currently only in alpha. You can get a copy of the alpha here. Note that you'll need about 40mb+ of internal storage space free to install it.
I don't see a FireFox extension that bring bookmarks to your phone permanently. There are a few suggestions in this question but they are designed more for sending links on a one-time basis. Getting the Del.icio.us FireFox add-on and the Del.icio.us add-on for the Android dolphin browser might be the best bet. (I knew I saw this somewhere on here... props to this answer which mentions Del.icio.us for Android.)
Xmarks Premium allows to synchronize all bookmarks between different PCs (supports Chrome, Firefox and more) and different mobile phones/tablet (Android, iPhone, Blackberry) for 12$/year.
If you have a HTC phone and Windows, then HTC sync will do this.