Not directly. More like TCP-like messaging over HTTP. The server needs to understand the websockets protocol.
Writing a basic server that strips the websockets part from messages and forwards them to a real TCP server isn't very hard, but it's still a server you need.
It's not really "over HTTP", it's just an HTTP handshake:
The WebSocket Protocol is an independent TCP-based protocol. Its
only relationship to HTTP is that its handshake is interpreted by
HTTP servers as an Upgrade request.
Writing a basic server that strips the websockets part from messages and forwards them to a real TCP server isn't very hard, but it's still a server you need.