YES! I took a free bike clinic at my LBS last Autumn and he showed us how to do it with NO hands on. I got a handout also.
Four weeks ago I went to the same LBS for the same "How to change a flat" free class with a different instructor and he made each of us take the wheel out and after he changed the tube, made us all put the wheel back in (he demonstrated first of course). Actually doing it made all the difference in the world!