Yes, you could use frame. It wouldn't be any different that doing the rocking stitch on a quilt on a frame. I have a frame with a quilt on it but so far it is for looks as I don't have it in a convenient place to work on it, so I use a hoop in front of the TV. The quilt on the frame was one of the first quilts that I used my embroidery machine for.
I really need to quilt it one of these days.