Yes you can from the shore
I'd suggest bring binoculars for the best view
Also suggested is the Riki Tiki bar at the Cocoa Beach pier while enjoying a drink and some snacks.
But while its a nice view, it's depressing, at least for us. So wouldn't recommend it at this time.
My DD14 cried when we saw the ships. I'm a grown man and I confess I almost did too.