You can.
http://www.emaculation.com/doku.php/basilisk_ii_setup#the_basilisk_ii_gui
If you don't have the same GUI just add or edit the prefs file to read:
extdrives CDE
(where CDE etc are the drive letters you want to be accessible inside the emulated mac)
The messy thing with this method is that it writes folders to the host drives to store resource forks. That's why I prefer to use HFVExplorer with SheepShaver.