Hello, indeed, goblins can be tamed.
The procedure is as follows:
1. Make sure you have 3 or more stamina points for taming
2. Go to a place with goblins (ex.: Lost Caves area) and get the desired one's attention. After he notices you run from him in the direction of the nearest taming spot (ex.: Near the story's BagHead seller location).
3. If he losts interesest, get in his sight and run again, leading him in taming spot's range.
4. Interact with the goblin to start h act which will result in taming. Note: If he attacks the player it won't be deemed taming, yet if it happened, after he's done you can interact with him to do the needed h act and tame him.
Good luck,
~NK