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Yes you can. It is said that in order for an object or a projectile to leave Earth's gravitational pull, it must reach Earth's escape velocity, meaning reach a speed of 7 miles per second(~11 km per second).

The speed needed for Apollo 11 to break free of the Earth's gravitational field was about 7 miles per second. Apollo 10, a spaceship that only orbited the moon in 1969 holds the record for the highest speed attained by a manned vehicle with 11.08 km/s (24,791mph).