This question is related to another one, Emacs :TODO indicator at left side. I recently came across a minor mode I like a lot called FixmeMode. It supports auto highlighting of TODO marks, and navigating between them. However, I think it makes more sense to recognize the "TODO" strings only in comments, rather than polluting the whole file. Is it possible?
Check out the library fic-mode.el, it has been verified in C++ and Emacs-Lisp.
It was written specifically to answer this question.
The installation is like any standard package:
(require 'fic-mode)
(add-hook 'c++-mode-hook 'turn-on-fic-mode)
Though Wei Hu did ask for an easy way to add it to multiple modes, so here goes:
(defun add-something-to-mode-hooks (mode-list something)
"helper function to add a callback to multiple hooks"
(dolist (mode mode-list)
(add-hook (intern (concat (symbol-name mode) "-mode-hook")) something)))
(add-something-to-mode-hooks '(c++ tcl emacs-lisp) 'turn-on-fic-mode)