iPod touch Transfer audio book from iTunes on G5 to iPod Touch sync'd with PC?

Long story. My old Nano was stolen about a year ago. I had it sync'd with my G5. Since then I've gotten a notebook (PC) that I pretty much use exclusively. I was given an audio book from/through iTunes that is still on my G5. Just got a iPod Touch for Xmas that I sync'd with my PC. Is there any way I can transfer the audio book on my G5/iTunes to my iPod Touch? Both iTunes are under my account. Sorry about being so confusing, hope someone can give me a solution. BTW, I really don't want to sync with the G5 and listen to the audio book then reformat for the PC. Thanks in advance.