Vim SuperMan by Jake Zimmerman is a Vim plugin that allows you to read
man pages with Vim instead of the default pager. You'll have to add a function to your shell's settings to make it work -- follow the example in the readme to make
vman command work.
I tried it out and I thought it worked well. I prefer being able to search and navigate the text using the Vim commands, and the syntax highlight for man pages looks great.