We do have the option to equip them with various armours and weapons....Just select to trade with them and give them stuff...if the equipment/weapons you give them are more powerful than their current items, they will equip them.
I've got 'Alea the Huntress' fully equipped with glass armour and weapons...smithed to the max...looks awesome on her.
Earlier in my playthrough I had a contracted mercenary tagging along with me....I decked him out in Dwarvin armour.