absolutely.
the best way I can think of off the top of my head is to go into time machine, then browse to the following folder:
USERNAME/Library/Calendars
inside there you will see a bunch of files w/ a ton of strange names/folders. Restore all of them using time machine from when you backed them up.
Or
If you want to go into each of the folders, and open the info.plist for each of the different folders, inside there you will be able to see the name of your calendar, so you can restore only that folder.
This should work. I've manually migrated ical calendars from a non-booting mac this way.