Of course it is possible, with java there are different technologies to generate a web service client with SOAP, among them are:
In my opinion, I have used SOAPClientSAAJ, since it is not necessary to create stubs with unnecessary code, as axis does.
Axis generates classes that make the connection, it is easy to understand them but sometimes the topic is a little unruly, even though the endpoint contains several url (methods) that you can consult.
It should be mentioned that with SOAP, at least as far as I have seen (if not someone corrects me), there are no definitions for the HTTP protocol endopoints (GET, POST, etc.), only a descriptor (wsdl) that contains the signature of the methods, this descriptor is a url which contains the xml of the definition of the methods.
I hope you help.