Yes and no. It really depends on what broke and how fast you're going. If you're going slow and the U-joint breaks you might be ok. If you're going fast enough though the driveshaft will flail and could take out the tranfer case.
With a slip yoke, you can also drive off in FWD but you'll need to stuff the yoke opening with stuff to prevent it from leaking before you try driving. Still the flailing driveshaft can leave you high and dry, too.