Show posts with the same tag in single.php

Hey guys,

I am wondering how I would be able to show a list of posts right underneath the current post that have the same tag.

So for example if the current post has the tag food, I want to show lets say 5 posts that have the tag containing food right underneath the current post and preferably a link which leads you to all the posts with the tag food.

I am using custom post types though, so this means that I want to be able to show posts from other post types in there as well. If this is possible please get back to me with some type of help. Thanks 🙂