Yes, you can. There are probably several ways to do it. Here's how I've done it:
1. Tie carrier on with waist straps, with the body of the carrier hanging over your hip rather than front or back.
2. Put the baby on your hip and bring the carrier up around baby.
3. Throw the shoulder strap in front of you over the opposite shoulder, and bring the one in the back up over the same shoulder.
4. Grab the straps now hanging over your shoulder(I found it a bit more comfy if they don't totally overlap) and bring them across your body to tie under baby's bum. Tighten and adjust everything as you go, make sure the straps don't twist.
All that said, I seldom use my Kozy this way, if I'm going to hip carry I usually use my Maya wrap.