Are there any modules where you can import H2Database data into drupal 7 as nodes?
Your best bet is likely to use the Migrate module and a custom php H2 database driver. 

This is not easy.

You can follow this to get php working with PDO and Java H2. http://www.webdevelopersdiary.com/1/post/2012/07/jamp-an-ultra-portable-php-web-server-and-database-stack-in-java.html

From there you will need to write a class for the migrate module that extends the migrate source class