FinderPop can probably do it. I know you can at least set it to load a "Contents" contextual menu with click-and-hold, and I think you can also set it to bring up the regular menu with the same behavior. I mostly use System 7 and not OS 8/9 these days, so I'm not 100%.

Also, if you like BeOS's contextual menus, you'll probably also like the "Contents" contextual submenu FinderPop offers, which is pretty much identical to the contextual drilldown feature in BeOS.