This can be done with TACACS+, but you'll need ACS for that. You can do this with a RADIUS server as well. There are severable freeware RADIUS servers available. If you're doing authentication only, you can use any simple RADIUS server including the IAS server in Win2k I'm sure. If you want to do authentication and authorization, you'll need a more robust RADIUS server. The most functional one I know of would be openradius for *nix. It supports everything I've heard of and things I haven't. You can even implement custom attributes.
Note that the Pix cannot do authentication for any protocols EXCEPT HTTP, FTP, and TELNET. In otherwords, you'll need authenticate for HTTPS before you can do HTTPS. This will change in Pix 6.3.