Yes you can...
1°) Download the iso you want to install
2°) Mount it with
mount -t iso9660 ISO_FILE MOUNT_DIR -o loop
3°) Copy the "isolinux" into your "/boot" directory
4°) Add these lines to your grub conf:
title Boot from CD
You have to specify the good major/minor for the "root" entry, as well as the good kernel and initrd names.
5°) Then reboot and choose the new entry in the grub menu