it's possibile and obviously more difficult.
If it's your own .apk, or you have access to the project, then you can use the proguard mapping located here:
<project_root>/bin/proguard/mapping.txt
otherwise it's just more difficult and you'll need to get used to read and unserstand a lot of guarded bytecode. Defenetly not easy but possible if you, for instance, have an old version of the apk not guarded.