The answer is yes... and no...
If you need to support older browsers (pre firefox 3), you can implement the NPN_PluginThreadAsyncCall function yourself. On windows, you can do that by creating a data structure that can hold the function pointer and the void* opaque pointer, and then post a custom message to the main window with a pointer to your data structure as the LPARAM.
The main window WINPPROC runs on the UI thread, which is the thread that can talk to Javascript. So, when you get that message in your WINPROC, you simply cast the LPARAM back to the pointer, call the method with the opaque data, and then free the data structure.
On Mac, you can do a similar thing with a queue to store the events in, and then on the NULL event (which gets sent by Mac OS about every tick) check to see if anything is in it. If so, pop it off, call the method, free it, and keep going.
There is probably a way to do it on linux as well, but I don't know what it is.
You can find an example of the windows version in the firebreath project on google code.
The handling of the winproc message is in this file:
http://code.google.com/p/firebreath/source/browse/src/PluginCore/Win/PluginWindowWin.cpp
The event and data structure are defined in its header file:
http://code.google.com/p/firebreath/source/browse/src/PluginCore/Win/PluginWindowWin.h
And the method for firing that event is here:
void ActiveXBrowserHost::ScheduleAsyncCall(void (*func)(void *), void *userData)
{
if (m_hWnd != NULL)
::PostMessage(m_hWnd, WM_ASYNCTHREADINVOKE, NULL,
(LPARAM)new FB::WINDOWS_ASYNC_EVENT(func, userData));
}