As of now, no. At least not in the fully fleshed way you're describing.
To add to what others have said... You can become infamous and have lords trying to catch you and execute you. And you can technically recruit bandits, but it's done by catching bandit parties and having enough of an advantage that they offer to join you.
My dream is that you will be able to barter with any party at any time to do stuff like that. When I saw it happen in a video, the barter screen only once came up when the player was offering money for them to leave her alone.