Yes you can. I have even made a complete circular pattern on a quilt using a walking foot. Jacquie Gering has some good videos on youtube & Craftsy. I took a class from a local teacher using Jacquie's methods. Here's the circle quilt I did with a walking foot.
https://www.quiltingboard.com/member...49-588737.html
I always use a practice sandwich pad to check out the pattern I want to do.