<?php
$args = array(
'taxonomy' => 'product-type',
'hierarchical' => true,
'title_li' => '',
'hide_empty' => false
);
?>
<ul>
<?php wp_list_categories( $args ); ?>
</ul>
You can use the wp_list_categories function also for taxonomies. http://codex.wordpress.org/Template_Tags/wp_list_categories