yes- if they have been staying in a coop/run, and are well established there, then on a nice day, just leave the door or gate open. They won't wander far, but stay around and watch them explore your world. Beware, all gardens need to be fenced, there is nothing a hen loves more than a newly sprouting garden, and it will be rototilled all over again.
They will go back to the coop at dusk, and put themselves away. However, if you are not going to be home, it is handy to be able to put them away in the middle of the day. I will take down a can of scratch, and each and every time I feed them, I call to them here chick, chick chik. They will generally come running, or use a long stick, tap the ground on either side of you and say 'hut,hut,hut' walk slowly, keeping the hens between you and the gate, using the stick to extend your reach, and keeping your hens moving toward the gate. Only get close enough that they move away from you, and move again, to get them to move again. Many people think the faster I do this, the less time they will have for getting away. That is wrong and upsets the birds. Just move slow, tap the ground or the back of a hen not going in the right direction. Once you get a few in the run, they find the scratch, the rest will follow quickly, and won't even notice you closing the gate.
The reason I mention this is especially in the winter, the early dark time, is when I will get hit by a predator. So I like mine locked up by then.
MrsK