Yes. It can be done by genetically altering a Dalek. This happened in the episode "Dalek", after Rose touched the Dalek's casing, the Dalek extrapolated her genetic material for cellular reconstruction. In "Into The Dalek", a damaged Dalek (which the Doctor nicknamed Rusty) was malfunctioning and because of this, it developed a conscience. The Doctor tried to convince the Dalek of the good in the universe, but instead, Rusty grew hatred for the Daleks and attacked his own kind.