Theoretically, yes, you can basically remove the lower access panel, disconnect the wires (while machine is unplugged and cool of course), and unscrew the heating element, then screw in the new one.
However, be careful when unscrewing the element, since you can damage the connections to the boiler in the process. Don't ask me how I know.

It helps to have someone else hold the boiler in place while you crank on the element with a long breaker bar and a big socket. Mine was in there really tight. My replacement element was also defective and wouldn't screw in right, so I had to get another one. Fortunately, Chris' Coffee was nice enough to send a new element right away at no extra charge.
You'll also need the teflon gasket that seals the element in place. Net cost is about $70 for the element and seal.