Yes, you can do that. Go to the target computer -- the one you want to access. Open System Preferences > Sharing > Services and put a check mark on "Personal File Sharing." When you see "Personal File Sharing On," then look at the bottom of the window for the address listed: something like afp://xxx.xx.xx.xxx (where the X's are numbers). That is the address you will use on the other computer.
On the other computer, from the Finder go to Go > Connect to Server and enter the number on the Server Address line. You will then see your other computer appear on your Finder.
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