Yes. My first serious program was done this way. At the start of the project (final year of EE degree, 1981) I didn't really understand what a program was, but I learned by studying the technical reference manual for the Intel 8085 CPU. It kind of seemed like magic, I can mold the functionality by storing codes in memory? Wow!

I figured out exactly what I wanted to do, wrote it out very carefully on paper, looked up all the hex codes, wrote those out very carefully, adjusted addresses etc. as needed. This took many hours spread over weeks. Then I entered the whole thing on the hex keyboard and display of a primitive development board each time I needed it, perhaps an hour or so each time (I think I only did it twice). It worked first time, because why wouldn't it if you were sufficiently meticulous about your work in a process that was very obviously very intolerant of the tiniest mistake?

I must admit my program (gather input information from some transducers, do some calculations, present some results) was likely somewhere between one and two orders of magnitude simpler than a complete Basic interpreter!