Yes, you can with and of the FRDM boards. But not with the original P&E OpenSDA Firmware. You need to use a different firmware (e.g. CMSIS-DAP, USBDM or Segger).
I was trying for USBDM and tried to folllow the steps provided in the tutorial but now I am having a problem for driver. Presently I am using windows 8.0 and I don't think we have driver for that. So is there any way to get through this ? I also tried with the latest software USBDM - Browse /Version 4.10.6 at SourceForge.net but the driver issue was not resolved.
I am also trying to do same, want to program and debug an external board which had MK10DN64 using TWRK20D50M. Can you give information on how to do it.