from my experience.... YES (without dropping the engine, and by myself) but it can be done. it took me the better part of a day to do it. it was also my first time to do anything like that to my mr2...so.... but a dealer or repair shop will charge you almost $35,000 (not really, but it's expensive) find the online service manual and have at it.
all you will need is a complete socket set and a phillips screwdriver (I think) start by removing the rear passenger wheel - then remove all engine covers - barely jack up the engine itself just enough to take pressure off of the motor mount - remove the engine braces(pasenger side) and then the motor mount - remove the crankshaft pulley - next use a 10mm socket to remove the No1 and No2 timing belt covers - loosen the idler pulley and tensioner pulley - remove the t-belt and then .. reverse....
ok... it's a little more complex than that but it's a general idea of what needs to be done... .and that's all I could remember doing... it sounds easier than it is... sorry. good luck