In this paper, we present a framework for studying folding problems from a motion planning perspective. The version of the motion planning problem we consider is that of determining a sequence of motions to transform some configuration of a foldable object (the start) into another configuration (the goal). Modeling foldable objects as tree-like multi-link objects allows us to apply recent techniques developed in the robotics motion planning community for articulated objects with many degrees of freedom (many links) to folding problems. An important feature of this approach is that it not only allows us to study foldability questions, such as, can one object be folded (or unfolded) into another object, but also provides us with another tool for investigating the dynamic folding process itself. The framework proposed here has application to traditional motion planning areas such as automation and animation, and presents a novel approach for studying protein folding pathways. Preliminary experimental results with traditional paper crafts (e.g., box folding) and small proteins (approximately 60 residues) are quite encouraging.