Yes, just find the shape you want in a clip art image and print it out or draw the shape you want on a piece of paper. (I always make one or two extras.) Then cut it out, place it on your rolled out and chilled (doesn't have to be, but it is easier if it is) dough.
Unlike the other respondents, I don't like to use an exacto knife. It is too fiddly and (unexpectedly) I end up with jagged edges (I think because the knife is SO sharp and any slight wobble messes up the edges. I use a regular, cheapo kitchen knife (like the $5 kind you can buy at the grocery store--not a butter knife) or my basic paring knife. Place the image on the dough, trace around it with the knife and voila! In my experience, using the regular knives is also much faster than using the exacto knife.
Honestly, I find that it is a pretty easy and quick process to cut the cookies out this way. Good luck!