Yes, definitely. As Paul says, the word is 'fancy', and it is commonly used in Britain.
It's a verb that can have a noun as a direct object:
'Do you fancy a drink?'
'I fancy a curry'
'Would anyone fancy a game of cards?'
Or it can have a gerund as its direct object:
'Does anyone fancy helping me in the garden?'
'Do you fancy going clubbing?'
'I fancy having a go at that competition.'
As you see, you can use this as a question or a statement - it means that the idea of something appeals to you at the moment. It's similar to the informal use of 'feel like' + object - 'I feel like a beer' or 'I feel like going for a walk'.
NB Note that if someone says that they fancy a person, it means that they are physically attracted to them.
I hope that helps and that it reassures you that your teacher was telling you the truth!