I'm sure someone will explain better than me, but since I found the post I'll put my $.02 in.
I personally still use tables a lot, but it's possible to use <DIV> tags. Div tags are block elements, but they can be styled with css to do pretty much anything.
CODE
<div> Header goes here </div>
<div style="float: left;width: 100px;"> Menu </div>
<div style="float: left;"> Main Content </div>
<div style="clear: both;"> Footer </div>
I'm not 100% about that, but that's something of how it would work. Obviously there's more than one way to go about it as you could have nested <div>'s encased in a wrapper or whatever you like. The styling is up to you as well. Google a little and I'm sure you'll find plenty of examples. Templates for 3 column, 2 column or what have you. There's lots of different templates designed with div's on the web. It can be done, and is becoming more and more popular.
If you're good with css then I think you should definately try using div's for you layout rather than tables.
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