HTML 5 Navigations

Is there a way to format the HTML markup like the following using the wp_nav_menu(); function? :-

<nav>
  <a href="/html/">HTML</a> |
  <a href="/html5/">HTML5</a> |
  <a href="/css/">CSS</a> |
  <a href="/css3/">CSS3</a> |
  <a href="/js/">JavaScript</a>
</nav>

(http://www.w3schools.com/html5/tag_nav.asp).