Can XBee modules be used as stand-alone without Arduino host?

Most applications I see on internet based on Xbee modules are usually connected to a host MCU which is the popular Arduino. Unfortunately, while this is easy, it is not an economical solution. A cheaper solution would be to use stand-alone Xbee modules without connecting a host MCU. This means that the user will have the freedom to write firmware on Xbee modules. Is this possible? Not sure if the Xbee solution is open enough.

I would like to use Xbee stand-alone on wireless sensors.

Anyone knows?