Ahh I see what you're saying now. Yes, you can: https://docs.godotengine.org/en/stable/tutorials/plugins/gdn...

The tutorial starts with C but there is a C++ one as well.

Again though, I would recommend at least trying to compile the engine once. It's simple, reasonably fast and you can extend the engine as much as you like https://docs.godotengine.org/en/stable/development/cpp/custo...