Yes, you can do this using "Services" from the system (they appear in Finder contextual menus at appropriate times) but not all Services are enabled by default.
Go to: System Preferences >> Keyboard >> Shortcuts tab and select the Services list item. In the list you will find a section named "Files and Folders", which contains "New Terminal at Folder" and "New Terminal Tab at Folder". If you download 3rd party terminal replacements such as mine (MacTerm), you will see Services for those applications as well. :)
Go to: System Preferences >> Keyboard >> Shortcuts tab and select the Services list item. In the list you will find a section named "Files and Folders", which contains "New Terminal at Folder" and "New Terminal Tab at Folder". If you download 3rd party terminal replacements such as mine (MacTerm), you will see Services for those applications as well. :)