Yes, you can program a board without an OS, but I would suggest you visit the wandboard website to download their documentation.
You can find the bare metal SDK for the i.mx6 (I haven't tried it with the wandboard though):
http://www.freescale.com/webapp/sps/site/prod_summary.jsp?code=i.MX6Q&fpsp=1&tab=Design_Tools_Tab
Under: "Software Development Tools" >> "Software Development Kits"
Best regards,
Sergio
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