Yes, if the remote registry service is enabled (which it is by default). Open regedit on your machine, go to the file menu and client on connect network registry. Type in the name of the remote machine.
Next go to that machine's HKLM\System\CurrentControlSet\Control\Terminal Server key. Change the value of fDenyTSConnections to 0. No reboot necessary.
Edit: This is for 2003/XP, you didn't specify what OS. If it is 2000, I don't know how to do it off the top of my head.