Hello James,
Yes, you can do cable-based (if you mean connect the devices via a cable without a switch.. That will not be a problem)
Cisco recommends use a switch between the units for troubleshooting purposes but it's not a MUST.
Configuration wise, same procesure nothing different so just follow the regular process.
For more information about Core and Security Networking follow my website at http://laguiadelnetworking.com
Any question contact me at jcarvaja@laguiadelnetworking.com
Cheers,
Julio Carvajal Segura
Julio Carvajal
Senior Network Security and Core Specialist
CCIE #42930, 2xCCNP, JNCIP-SEC