Yes, it is possible. There are even online discussion groups on foreskin restoration.
To do this, you would use some simple stretching exercises a few times the day. Pull the skin over your glans and tug it forward, holding it there for a minute or so. Use enough tension that the skin feels taut, but back off if it starts to hurt. Repeat a couple times, and then leave it be for several hours as the skin heals and grows new cells.
It takes a very long time to completely restore a foreskin, so be patient. Some people use devices to hold the skin under tension for several hours at a time, but others have had success with brief intermittent tension like I've described above.
It won't be the same as before, though, because foreskin restoration involves expanding the existing skin to replace what was lost. The two structures lost to circumcision, the frenulum and preputial sphincter, cannot be regrown. Having said that, if you grow enough skin to extend past your glans it will close off due to the smooth muscle in the penile shaft skin.
Do you have anything left of the mucous membrane that was the inner lining of your foreskin? This can be expanded along with the rest of it.