Yes, there is a SignalR client library for .NET that you can use in any old .NET app to talk to a SignalR server just like you can from JavaScript.
While there is a WebSockets binding for WCF, there is no binding that actually talks native SignalR which adds its own message framing on top of raw web sockets. So, while possible, it doesn't exist today and I wouldn't hold my breath for it ever being created.