This can be done in the 3D Viewport with Camera View (Numberpad 0), since the movement of a camera can be controlled through its Transforms (found in the N-Panel and Properties area > Object Properties tab) as well as the 3D Viewport's Tools. If you don't want to move your rendering camera then another camera can be added (Add > Camera or Duplicate a selected camera with Shift-D) and changed to the Active Camera (View > Camera > Set Active Object as Camera):


Since the Active Camera is used for both rendering and the 3D Viewport's Camera View you'll need to remember to make your rendering Camera the Active Camera again before rendering. (There are exceptions, see Local Camera in the Display & View Panels page of the manual for more info.)