Yes you can. You can define a custom menu using the Menus option under the Admin menu. Putting on the links that you want. Then under General icon on the Admin section clear the box Show Modules to all groups always. Now its just a case of in the modules config option to set which modules you want to appear to which admin groups.
To use your custom menu, create a new module down at the bottom of the modules screen. and pick your menu, probably ID of 1 from the list.