Of course you can. You only need to bring a completed Vehicle Registration / Title Application Form MV-82 or Application for Title MV-82TON.
Don't you have any of these Forms?
Yeah, i don't have any of those right now. What to do then?
No need to worry. You can bring any other ID proof to us, such as a NYS license, a Permit or a non.driver ID card which is current or haven't expired for more than 2 years.