[edlinfan]

Sure, if you use a space elevator. http://en.wikipedia.org/wiki/Space_elevator

This won't get you out of Earth orbit, though. If you want to go to other planets, you have no choice other than reaching escape velocity.

However, once in orbit, I'm pretty sure you can reach escape velocity as gradually as you want. You'd just gradually increase your orbit's apogee until you stop orbiting.