Yes you can if you take the 15 minute one way narrow road above Canon City called Skyline Dr.
I will say that this drive is NOT for people who are not into heights the road at times look like it will end.
I assure you the road did not end. I was a little nervous that it might. http://www.canoncity.org/visitors/skyline_drive.php the views from both sides of the road take your breathe away.
After regaining my breath we decided to drive out to the Suspension Bridge. No I did not do the zipline but if you look close there are two in this picture.
There is also a tram that crosses the gorge also.
This was a full day now tomorrow we are headed to Durango via Wolf Creek Pass.