I'm trying to build out a HTML list menu of taxonomy term followed by nodes associated to that term as a sub HTML list. All items should be linked as well. Can this be done?

Example below:

• Taxonomy Term 1
• Associated Node 1
• Associated Node 2
• Associated Node 3
• Taxonomy Term 2
• Associated Node 4
• Associated Node 5
• Associated Node 6
• Associated Node 7
• Associated Node 8
• Associated Node 9
• Taxonomy Term 3
• Associated Node 10
• Associated Node 11
• Taxonomy Term 4