Wordpress - Possible to hide Custom Post Type UI/Menu from specific User Roles?

To hide a post type menu item from non-admin users:

function wpse28782_remove_menu_items() {
    if( !current_user_can( 'administrator' ) ):
        remove_menu_page( 'edit.php?post_type=your_post_type' );
    endif;
}
add_action( 'admin_menu', 'wpse28782_remove_menu_items' );

your_post_type should be the name of your actual post type.

EDIT-

other menu pages you can remove:

remove_menu_page('edit.php'); // Posts
remove_menu_page('upload.php'); // Media
remove_menu_page('link-manager.php'); // Links
remove_menu_page('edit-comments.php'); // Comments
remove_menu_page('edit.php?post_type=page'); // Pages
remove_menu_page('plugins.php'); // Plugins
remove_menu_page('themes.php'); // Appearance
remove_menu_page('users.php'); // Users
remove_menu_page('tools.php'); // Tools
remove_menu_page('options-general.php'); // Settings

EDIT 2 -

Removing plugin menu items.

For plugins, it seems you only need the page= query var. The other thing to note is the priority, which is the third argument to the admin_menu add_action. It has to be set low enough (the higher the number, the lower the priority) so that plugins have already added themselves to the menu.

function wpse28782_remove_plugin_admin_menu() {
    if( !current_user_can( 'administrator' ) ):
        remove_menu_page('cart66_admin');
    endif;
}
add_action( 'admin_menu', 'wpse28782_remove_plugin_admin_menu', 9999 );

The accepted answer can be used to hide custom post types (and other assorted items) as described. But if you want to hide the CPT UI plugin menu itself, you can also remove the action that adds it to the menu in the first place.

if( !current_user_can( 'administrator' ) ) {
    remove_action( 'admin_menu', 'cptui_plugin_menu' );
}