Sure, just go to Seller Admin > Cart Shipping Settings, click Next to reach the Shipping Rules screen, create a new Shipping Rule using the Flat rate calculation method, set the Amount to your delivery fee, add a description to show in the cart (up to 10 characters), and pick your country and state where the delivery option will be available (unfortunately, we have no way to apply rules by location any more specifically than the state level).
Since this will override your existing USPS Priority rule for more general destinations, you'll need to create a companion rule using the USPS Priority method for the same country/state that got the local delivery courier option.
