That's easy enough to do with a quick mod, just toss this into an xml file in the Mods folder.
<ImprovementTypes>
<ImprovementType InternalName="K_Harbor">
<SupportedTerrainType>Land</SupportedTerrainType>
<SupportedTerrainType>City</SupportedTerrainType>
</ImprovementType>
<ImprovementType InternalName="E_Harbor">
<SupportedTerrainType>Land</SupportedTerrainType>
<SupportedTerrainType>City</SupportedTerrainType>
</ImprovementType>
</ImprovementTypes>
You can build harbors anywhere, in any city, but the ship won't be able to move out to sea unless you use raise land on a cliff, then build on that tile to connect your city to the ocean (best to just build the harbor on that tile). It's not exactly very intuitive, IMO.