I was recently in Munich airport and tried to meet a friend there. Yes, once you have gone through passport control, you can easily walk from one terminal to the other. You can find maps of the terminals here: http://www.munich-airport.de/en/cons...e/T1/index.jsp (that's terminal 1).

There are information desks (with humans) in both terminals. If in doubt, you can ask at one of them.