Yes, you can. If you are involved in an at-fault accident while driving someone else’s car, then the driver who owns the car’s insurance policy will cover you.
The insurance provider can add the driver to the driver’s insurance policy through co-titling or as an additional but occasional driver if you are legally allowed to drive the car.
The driver permits the insurance company to add you. The insurance company will ask about your driving history, and the driver’s auto insurance costs may go up by having an additional driver on their policy.