Yes, just do two things as follows:
Add a statement as:
androidHttpTransport.debug = true;
before the call as:
androidHttpTransport.call(SOAP_ACTION, envelope);
and add statement as:
String xml = androidHttpTransport.responseDump;
after the call statement, and you will get the response in XML in the form of XML data as tags and data.
Just parse the data using any parsing method.