It can be done without removing the heads, yes, but you should consider doing other things in the same vicinity. You can get a screw-in air fitting to "freeze" the valves shut in each cylinder (after positioning that cyl. at TDC). Then compress each valve spring, and battle the varnish that will resist you popping the valve retainers apart. Once successful, you can pull off old seals, press on new ones, and reassemble.
Just keep in mind that before long you may want to refresh the next weak link in the chain - worn valve guides, a bad seat seal.....or, maybe they're fine for some more years !