Sorry late here but Yes! David Leibovitz, the author of this recipe, has a whole page he's written on making ice cream and sorbet without a machine. You also might find some answers in the comment section of his blog page on the chocolate sorbet.
You could make it as a sort of granita (freeze in a pan and scrape around the ice crystals every few hours) but if you're seeking a true no-churn ice cream, look for a recipe formulated specifically for that (Serious Eats has some good ones).
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https://www.davidlebovitz.com/making-ice-crea-1/