Yes – Gaia, Gmaps, BCNAV, or any other app that will import gpx, kml, or kmz formats.
I would usually trace out 4WD or hiking routes in CalTopo then import into Gmaps. When I need a particular route I export the layer it is on from Gmaps and import into BCNAV. The only exception is dirt roads in the desert which are often not on any topo maps but are more or less visible on the hirez satellite layer of Gmaps.

