If you mean building such applications as you would a GUI one, then AFAIK it can't be done with Lazarus. There are other TUI generators but all they do (very basically) is to allow you to design "screens" and then create the code to build them.
If, however, you mean frameworks like Icaza's in the first example, your best bet will probably be Free Vision, which is a multi-platform "clone" of Borland's
Turbo Vision.