The short answer is: yes
I have been using different smartphones for more than 4 years on a prepaid line and I have never paid a 'data plan' and use the features almost exclusively via wi-fi (or just bite it and pay for 'pay per use', if I *really* need a connection and there's no wi-fi around). Well at least not until about a year ago. Granted none of these smartphones I've used are Androids, but I'm certain it's the same.
Technically*, all unlocked (GSM-based) smartphones can be used on any (GSM-based) carriers. The phone itself does not care whether the SIM card inside it has a 'data plan' or not. It will try to use data connection if you don't specify it to only use wi-fi though, so be careful about the ridiculous 'pay per use' fee that can easily accidentally occur while you're playing with it.
*iPhones are a bit different in this regard, with requiring iTunes activation, etc., but I don't want to go in depth into it so I'll leave it at that.