It is possible to do so, but it is not something we document or test exactly.
The closest steps would be only doing the Cloudera Manager steps here:
Since the agent runs as "root" by default, you shouldn't need to do any of the agent-specific steps there.
Also, the Management Service "System User" and "System Group" are "cloudera-scm" by default.
You may need to do a little trial and error to get everything working, but I don't think it would be too bad.