I did a slightly less quick search.
The answer is a tentative yes, seeing as how I've never done it myself... but look in the CATALINA_HOME\conf\web.xml file, around line 190 you'll see a huge block commented out:
<!-- Common Gateway Includes (CGI) processing servlet, which supports -->
<!-- execution of external applications that conform to the CGI spec -->
<!-- requirements. Typically, this servlet is mapped to the URL pattern -->
<!-- "/cgi-bin/*", which means that any CGI applications that are -->
<!-- executed must be present within the web application. This servlet -->
<!-- supports the following initialization parameters (default values -->
<!-- are in square brackets): -->
I also searched through my few-month archive on the Tomcat-Users list, but hadn't found any references to this ability. So it's probably untried and not popular. After all, JSP/Servlets are supposed to replace all that Perl/C/C++ cgi stuff, right?