Yes, it is technically possible to do this. There are a number of softwares on the market that will do this. I don't have one but know that my dealer sells one and teaches classes on it too.

I have digitized some of my counted cross-stitch designs. I do it manually with my 4D Professional software. I have stayed away ones that have too many colors (20+). I have done some for aida cloth and for regular linen. I still do alot of hand cross-stitch. For me it is easiest to work from a pdf file or actual copy of original. Reply to this message if you want to try some that I have done.
Percy