Yes. I've done this in a couple of ways a number of times.

When my gal pal and I made a home video many years ago one of our friends taped us, and it was really hot to have her instruct me to jack myself off onto my gal's pubes for the cumshot.

Later I videotaped myself masturbating to orgasm and shared this with several friends (female and male) who had asked to see it.

Finally, one of the gals to whom I'd showed the tape asked to see me do it live, so we made a date and I went to her house, changed into my robe in her bathroom, and gave her a show on her couch. She stayed fully clothed in a chair about three feet away and occasionally directed me to what she wanted to see.

The whole game took about 3 hours and when she told me she wanted to see me shoot I had one of the most intense and copious orgasms of my life.

We were never sexual with each other ever before or since. It was really more of a one-time jack-off buddy thing.