Student Exchange Programs

I’m an exchange student from Finland staying in Canada and am planning on travelling to USA. I know that Finland is a partner of the Visa Waiver Program and I should be able to enter US without applying for a Visitor Visa when travelling from Finland by air or over sea with a carrier that is part of the program.

My question is, am I able to cross the border (drive) to USA now that I’m on a temporary resident (student) visa here in Canada? Do I need to fill Form I-94W and if I do, where can I get it?