NPCs offer 'quests' by way of posting open contracts to a town board, or such things. Presumably we can do the same. Can we offer 'quests' to NPCs? Can they accept quests from each other?

Contracts with basic requirements seem to be pretty obvious, 'get me 10 iron ore' or similar. Can a contract be more interesting/complex? Can an adventurer post a contract 'accompany me into a dungeon to provide protection'? Can a farmer post a contract 'teach me about the local soil'? Can a mayor offer a contract 'wanting blacksmiths to move into town, offering discount on property'?

I'm very interested in NPCs and the interaction with them in general, everything from conversation to whether NPCs will have old souls or destinies. Hoping to learn about contracts/quests with this. Thanks!