Yes, no problem!
Don't take the edge straight on - you will just lay it down on the frame, or worse scrape along the exhaust crossover or transfer case!
You want to take it at just enough of an angle that one of the wheels goes down, then the other... ideally you want it so that the first wheel hits the low ground just as the next wheel is coming off the edge.
Too little of an angle and you'll drag the undercarriage. Too much of an angle and you'll have unnecessarily prolonged tippines.
As homedad said, put in 4LO and go slow. If you feel the rear wheel come off the ground, DON'T panic and grab at the brakes - that will only make you tip more. Keep it crawling and you'll be fine.
Here is my stock FJ going over a ledge that is about that big in the way I've described...
