I've never tried it without an enlarger, but camera lenses can certainly be used as enlarging lenses. Just for kicks, I tried it with an Industar-50 (50mm camera lens) and it worked. I also once used a 37mm Mir-1 to make an enlargement from an old 110 negative. (Both of these lenses are Soviet M39 SLR lenses for some of their ~1950s-1960s SLRs. Because they've got M39 mounts, they fit many enlargers without modification.)
Note that most camera lenses aren't designed to project a flat field, so you may get blurrier edges than you would with a real enlarger lens. If you've got a flat-field macro lens, you might want to use it.