Yes, as long as the instantaneous point of contact of the rolling body is at rest with respect to the surface, pure rolling will be there even if the surface is fixed or not. Take the example of the wheels of a tank. The tank has plates that roll over the wheels. In this case, the wheels are stationary but the plates or the surface moves, that is, the surface is not fixed. But still there is pure rolling in this case as there is no slipping of the plate or the wheels.