Technically yes. On foot you'll have to cross Disney Way to get to the park entrance, but there are always Disney "crossing guards" there as that's where you pull in to park.
The only two hotels where there is no crossing any street on foot are The Disneyland Hotel and The Grand Californian.
Yes, you will have to cross a street, but it's not a big deal. The crosswalk is big enough and it's easy to use. You just have to watch the buses as they are pulling out of the drop area but that's it, no cars are allowed that way. And there's a signal so you'll be able to cross safely.