I was a bit stubborn, and didn't setup Maven... hopefully this post helps someone else that's in the same boat.
After a bit of trial and error (And plenty of suggestions gleaned from multiple web searches), I was able to get this working with a specific ANT script, which can be run in Eclipse by "Run As -> Ant Build".
I saved this file, "javadoc.xml", in the directory of my project, in parallel with the AndroidManifest.xml file.
Here is the content of the file:
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project basedir="." default="doc" name="api docs">
<target name="doc" description="my docs">
<javadoc destdir="docs" doctitle="Testing the Title" verbose="on"
use="true"
classpath="C:\Android\android-sdk_r04-windows\android-sdk-windows\platforms\android-2.1\android.jar;.\libs\admob-sdk-android.jar"
sourcepath="gen;src"
linkoffline="http://d.android.com/reference C:\Android\android-sdk_r04-windows\android-sdk-windows\docs\reference"
stylesheetfile="C:\Android\android-sdk_r04-windows\android-sdk-windows\docs\assets\android-developer-docs.css"
>
</javadoc>
</target>
</project>