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This code support the Getting Started with the Force.com Streaming API article.

package demo;

import java.io.ByteArrayInputStream;

import org.eclipse.jetty.client.ContentExchange;
import org.eclipse.jetty.client.HttpClient;
import org.json.JSONArray;
import org.json.JSONObject;
import org.json.JSONTokener;

public class MakeTopic {
    // Get credentials etc from environment
    private static final String LOGIN_SERVER = System.getenv("LOGIN_SERVER");
    private static final String USERNAME = System.getenv("USERNAME");
    private static final String PASSWORD = System.getenv("PASSWORD");

    private static final String CLIENT_ID = System.getenv("CLIENT_ID");
    private static final String CLIENT_SECRET = System.getenv("CLIENT_SECRET");

    private static final String API_VERSION = "23.0";

    public static void main(String[] args) throws Exception {
        if (args.length < 2) {
            System.err.println("Usage: MakeTopic topicname query");
            System.exit(-1);
        }

        String topicname = args[0];
        String query = args[1];

        JSONObject authResponse = oauthLogin();
        System.out.println("Login response: " + authResponse.toString(2));
        if (!authResponse.has("access_token")) {
            throw new Exception("OAuth failed: " + authResponse.toString());
        }

        String url = authResponse.getString("instance_url")
                + "/services/data/v23.0/sobjects/PushTopic/";

        JSONObject topic = new JSONObject();

        topic.put("ApiVersion", API_VERSION);
        topic.put("Name", topicname);
        topic.put("Query", query);

        System.out.print("PushTopic data: ");
        System.out.println(topic.toString(2));
        
        HttpClient httpClient = new HttpClient();
        httpClient.start();

        ContentExchange exchange = new ContentExchange();
        exchange.setMethod("POST");
        exchange.setURL(url);

        exchange.setRequestHeader("Content-Type", "application/json");
        exchange.setRequestHeader("Authorization",
                "OAuth " + authResponse.getString("access_token"));
        exchange.setRequestContentSource(new ByteArrayInputStream(topic
                .toString().getBytes("UTF-8")));

        httpClient.send(exchange);
        exchange.waitForDone();

        String content = exchange.getResponseContent();

        System.out.print("Create Response: ");
        // Response may be array or object
        if (content.charAt(0) == '[') {
            JSONArray response = new JSONArray(new JSONTokener(content));

            System.out.println(response.toString(2));
        } else {
            JSONObject response = new JSONObject(new JSONTokener(content));

            System.out.println(response.toString(2));
        }
    }

    private static JSONObject oauthLogin() throws Exception {
        HttpClient httpClient = new HttpClient();
        httpClient.start();

        String url = LOGIN_SERVER + "/services/oauth2/token";

        ContentExchange exchange = new ContentExchange();
        exchange.setMethod("POST");
        exchange.setURL(url);

        String message = "grant_type=password&client_id=" + CLIENT_ID
                + "&client_secret=" + CLIENT_SECRET + "&username=" + USERNAME
                + "&password=" + PASSWORD;

        exchange.setRequestHeader("Content-Type",
                "application/x-www-form-urlencoded");
        exchange.setRequestContentSource(new ByteArrayInputStream(message
                .getBytes("UTF-8")));

        httpClient.send(exchange);
        exchange.waitForDone();

        return new JSONObject(new JSONTokener(exchange.getResponseContent()));

    }
}