Yes. Set iTunes to manually update, put the desired songs in a playlists, then manually upload the playlist to the iPod. Read iTunes' help for how to do this.
Note that the RIAA would probably have a fit over this practice, and rightly so; your copy is certainly not a legal copy, even if your friend lets you make it. HE can make copies for HIS OWN use under the fair use doctrine of U.S. copyright laws (which are extremely similar to most countries' laws), but YOU cannot.