I currently use my text editor of choice (I'm partial to TextMate but Chocolat is starting to replace it) and a UCPP make file. I then simply ftp the code to the robot.
So, yes, you can. It just requires a little more set up time. I'm currently looking into using the alternative
toolchain that uses GCC and DOESN'T require me to have Wine installed. If I can get that working it'll be the last step before I can dump the build process off to a remote machine that pulls from a git repo.