Yes you can however you probably would want to at least buy a
USB-to-XBee adapter from sparkfun or something like that it will make your life a lot easier.
Not that it is not impossible but you will need patience because the connectors are smaller. You also will have to regulate voltage from 5 volts to 3.3 volts.
Depending on witch way you go with this here is something that will likely be of some use should you chose to venture down that road.
Of course the ones used or not used depend on your config but the main ones you would need to set that up are there.
pin 1 is top left when looking from logo side obviously the logo is in the readable orientation.
* XPIN1 = VCC
* XPIN2 = uart0 [TX Pin]
* XPIN3 = uart0 [RX Pin]
* XPIN4 = <<UNUSED>>
* XPIN5 = special0 [Reset Pin]
* XPIN6 = special0 [RSSI PWM Pin]
* XPIN7 = <<UNUSED>>
* XPIN8 = special0 [BKGD Pin]
* XPIN9 = <<UNUSED>>
* XPIN10 = GND
* XPIN11 = <<UNUSED>>
* XPIN12 = <<UNUSED>>
* XPIN13 = <<UNUSED>>
* XPIN14 = VCC REF
* XPIN15 = special0 [Association Pin]
* XPIN16 = <<UNUSED>>
* XPIN17 = <<UNUSED>>
* XPIN18 = <<UNUSED>>
* XPIN19 = <<UNUSED>>
* XPIN20 = adc0 [ADC Pin]