For example, you would write:
* "I took Highway 101 to get to the beach."
Exceptions:
* Official names: If the highway has a specific, official name, then you would capitalize it, like "Interstate 5" or "U.S. Route 66".
* Proper nouns: If "highway" is part of a proper noun, like "Highway 66 Scenic Byway," then you would capitalize it.
In most cases, though, "highway" is lowercase when used with a number.