You can use Html. When you load the string in the textview use:
yourTextView.setText(Html.fromHtml(context.getResources().getString(R.string.help_summary)));
And use html in the string, for example:
<string name="help_summary"><![CDATA[Clicking on button <span style="color:red">Summary</span> will result in <b>report</b>]]></string>