Yes.
On the service console of your ESX server run the following command;
vmkfstools -i <source VMDK disk> -d 2gbsparse <destination VMDK disk>
Where the destination is on the service console. Then use SCP (WinSCP for example) to copy the resulting disk files (all with .vmdk extension) to your workstation, then build a new VM with the same hardware as the ESX VM and use the files you just copied as its virtual disk.