Yes.
You can do one of the following:
a) Build a custom application using the LiveCycle Forms api.
b) Use the RenderForm QPAC within a workflow to convert the XML to a PDF.
The RenderForm QPAC is a little obscure to use - read the documentation VERY carefully, and be very careful about the values you enter, otherwise it won't work. It does work perfectly if you get all the values right. In my experience, you do need to enter a username and password, even though these are not noted as mandatory fields.
Howard
http://www.avoka.com