Yes, but the Secretary of Tourism of Baja California recommends driving your own vehicle. If you do go to Baja in a borrowed vehicle, it is highly recommended to carry a notarized letter of permission from the owner of the vehicle stating that the vehicle may be driven in Mexico by the borrower. This letter may be handy in case Mexican authorities question you about the vehicle being in Mexico. A letter is especially important when the owner of the vehicle is not in Mexico, or the owner is a business or non-profit group.