Yes, in some cases. If a gear set is going the same speed they can be slipped in or out of gear... People do it all the time shifting gears in a standard transmission without using the clutch by just matching the engine speed to the rolling speed of the gear train....... Is it recommended? A) no Can it damage gears? A) Yes
My clutch cable broke on my motorcycle when I was in town right near the highway. I started the bike and pushed it to get it going then gingerly slipped it into first gear with a clunk. Once I sped up, I put my foot on the shift lever with slight pressure and when I checked the throttle it slipped nicely into second gear. I did this all the way home without any nasty sounding clunks or grinding....
Half nuts are a good example of helical gear interfaces that are engaged and disengaged on the fly...