From nookDevs

Part of the NookColor portal

Many windows users have a major problem with getting the USB drivers for ADB to talk to the Nook Color. It's a hard process that does not always work even when done very carefully by experts.

Once your Nook Color is rooted, however, there is a very simple solution if you want to use ADB.

Go to market, and search for ADB Wireless. Install the app and run it.

The running app will look like this:

Note how it has an adb instruction on the page just below the big red button.

Type this adb instruction, and your computer will attach to the NookColor over wifi rather than using the USB cable.

No drivers are needed at all.

This is simple and easy, and works if you don't have your usb cable handy.

After you type the connect command from the screen, you can then do normal adb commands like:

adb install something.apk 
adb shell 
adb reboot 

and so on. You must use the connect command each time you want to start an adb session on the computer.