If I understand you correctly than yes, it is possible. Take a look at the official documentation.

The token is used for mutual authentication between the control-plane node and the joining nodes. The token included here is secret. Keep it safe, because anyone with this token can add authenticated nodes to your cluster. These tokens can be listed, created, and deleted with the kubeadm token command. See the kubeadm reference guide.

From there you can use the kubeadm token generate [flags] command.

This command will print out a randomly-generated bootstrap token that can be used with the “init” and “join” commands.

Please let me know if that helped.