Yes you can, are you retired now?
I have had some money in a 401k with a former employer for about 10 years. I have never added to it nor withdrawn from it. I do not earn enough money to pay income tax because my home of record is Sri Lanka. I am 62 years old. I want to be able to withdraw all that money or to move all of it to some sort of account or investment where I can withdraw what I need without paying the federal income tax (nearly 20%) on it.