How can I create a hierarchical multi-select or checkbox field?

How can I create a hierarchical multi-select or checkbox field?

How can we produce / display a hierachical multi-select field?  E.g., "Cars" might look like:
 
  1. Acura
  2. - MDX
  3. - TL
  4. - TSX
  5. BMW
  6. - 330
  7. - 335
  8. - M3