The short answer to your question is no: for AJAX calls, you can only access the same hostname (and port / scheme) as your page was loaded from.
There are a couple of work-arounds: one is to create a URL in foo.example.com
that acts as a reverse proxy for bar.example.com
. The browser doesn't care where the request is actually fulfilled, as long as the hostname matches. If you already have a front-end Apache webserver, this won't be too difficult.
Another alternative is AJAST, which works by inserting script tags into your document. I believe that this is how Google APIs work.
You'll find a good description of the same origin policy here: http://code.google.com/p/browsersec/wiki/Part2