Yes. It is possible.
By connecting from the P409 or P410 header on the SmartRF06EBK, you can use the JTAG emulator mounted on the SmartRF06EBK to program and debug an external target device.

The connector for the target device is not included in the evaluation kit, so you need to prepare it. For details on how to debug, please refer to the following.

SmartRF06 Evaluation Board (EVM) User's Guide
Corresponding part: 6 Debugging an External Target Using SmartRF06EB
URL: http://www.tij.co.jp/general/jp/docs/lit/getliterature.tsp?baseLiteratureNumber=swru321&fileType=pdf

*This answer is for the User's Guide at the time of Rev.B.
Please note that chapters and figure numbers may change when the User's Guide is updated to a new revision.