I use Jade at the server-side, but not for generating dynamic HTMLs. I use it to generate static HTMLs (ie, they are generated at build-time as opposed to run-time). It works great for me:
You should be able to achieve the same using Handlebars, but if you like your code to be compact, you should choose Jade.
I suggest you give both of them a try and pick whichever feels comfortable for you. Neither of them will take you more than a couple of hours to master.