Yes... via VirtualPC. And actually I've heard that people were having problems installing it in VPC 6.x (my current VPC installation of NEXTSTEP 3.3 was originally done in VPC 4 and I'm using it in VPC 5).
Otherwise you'll need either a PC (older PC to meet the hardware requirements), a NeXT computer, a Sun computer (older SPARCstation) or an HP PA-RISC system (the 715s worked nicely I've heard).