I will try to explain the reach in a way you can visualize, then explain in bike terms
Take a piece of paper, and draw a big V on it, on top of that V put 2 dots, and lets say the one dot on top of one side of the v is your saddle, and the dot on the other end of the v is your handle bars. And draw a line between the two legs of the v towards the bottom of the v, it is going to be your top tube, now draw another line towards the upper part of the v, it is the top tube of the bigger bike. The two top tubes are different lengths, but your saddle and bar positions never moved, so your reach stayed the same. So top tube length really has nothing to do with reach ( in a matter os speaking )
Now a bike is not a perfect V, in the case of 54 and 56 the difference in reach is 14mm, 6mm of the top tube length is being negated by the V affect. because the TT of the 56 sits higher up the v it is 20mm longer, but only really 14 mm longer for your purpose
If you look at the geometry charts, and look at stack and reach, Those are the only 2 numbers that are going to tell you the actuall difference in fit. The difference in reach is 14mm, if you set up the two sizes with matching X and Y cordinates, x and y being the realationship of the saddle versus BB, and the handlebar versus BB. Or more simple put, if the saddle is set at the same height on both bikes, and set at the same for/aft on both bike. Then you put your bars at the same drop on both bikes, In this case would be by adding 20mm or actually 19mm of spacers on the 54. Both using the same length stem, Then the difference in reach would be 14mm.
http://www.cervelo.com/content.aspx?t=Company&i=WhitePapers#1 look at the presentation of geometry, it goes a little bit into the subject
I dont have my laptop at the shop today, that is where I keep my custom frame design program when building someone a custom bike. If I had it I would plug in a few numbers to give you some more examples