This might be a silly question:
For example:
If one is
The answer: Yes
Reason: See the OSI model.
Explaination:
HTTP is an application layer protocol, which could be encapsulated with a protocol that uses UDP, providing arguably faster reliable communication than TCP. The server daemon and client would obviously need to support this new protocol. Quake 2 protocol proves that UDP can be used over TCP to provide a basis for a structured communication system insuring flow control (e.g. chunk ids).
Maybe just a bit of trivia, but UPnP will use HTTP formatted messages over UDP for device discovery.