I am 5'10, ~33-34" inside leg, long arms - had a women's Trek 7.3 WSD in the largest frame size. Long story short, came off it (nothing to do with the bike I may add) and to get confidence back, I ended up getting an XL men's Specialized Crosstrail - I was going to get the XL Ariel, test rode it and it felt small, hence going for the men's. I now have also a Spesh Sirrus, again in an XL, perhaps a little big but again the L felt cramped (I sat on it, didn't ride). I have a bad knee and cannot overbend it so the bigger bike felt better. I sold the Trek as it felt tiny after the Crosstrail! I like to be open when I ride and upright - hence hybrids not road bikes.
You are rather shorter than me, and looking at the 2010 Specialized catalogue, you should be ok with a 57cm frame depending on the model. Women's bikes take the longer legs into account, just not monkey arms like mine!
Which models are you looking at? Best thing to do is to test ride and see which suits you best I reckon