Sure!
If you are familiar with Java2D or HTML5 Canvas you could use the JavaFX Canvas Control. In this control you can paint whatever you want on a graphics canvas. Here is a quick overview:
http://docs.oracle.com/javase/8/javafx/graphics-tutorial/canvas.htm#JFXGR214
My book contains an example, too.
But the better approach is to use the JavaFX scene graph. The scene graph can contain, layout, manage and render all your components. By doing so you can add event listeners, etc. on all the components. How the scene graph is working and how you can define own layouts, etc. is part of my book