You could use a regular expression with the /g modifier:

m#<TD>(.*?)</TD>#g
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This will return a list of all the matches.

You can then select whichever term you want from the list:

my $html = "<TR><TD>Foo:</TD><TD> bar </TD></TR>";

my $var = ( $html =~ m#<TD>(.*?)</TD>#g )[1];
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Note that you have to modify the asterisk with the question mark to specify non-greedy matching. If you don't, you will get just one big match, like

Foo:</TD><TD> bar
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— probably not what you wanted!

You should also add the /s modifier, if the string you need to extract breaks across multiple lines. Specifically, /s allows the dot to match newline characters along with all the other characters.