Yes that I what I am doing.
I am using this one from Adafruit ESP32 WiFi-BT-BLE MCU Module / ESP-WROOM-32 : ID 3320 : $8.95 : Adafruit Industries, Unique & fun DIY electronics and kits
I am laying out the board at the moment. To be honest I have not actually done an upload yet, but am confident it will work base on my previous experience working with ESP8266 bare modules.
If you check the Sparkfun ESP32 Thing variant in the package you will see the pin numbers are one for one for the GPIO's (NOT the chip pins, the GPIO's)
Sparkfun defines some names like CS etc and allocates them to specific GPIO's. My code ignores those and passes GPIO numbers directly for the various chip select pins I use.
So use the Sparkfun board and just work with the GPIO numbers.
Here are some restrictions on the GPIOs
GPIO0 MUST be High for run, LOW for download pwm output on boot
GPIO2 MUST be LOW for download else Don't Care
GPIO5 MUST be HIGH on boot pwm output on boot
GPIO12,MTDI, MUST be LOW on boot
GPIO14 pwm output on boot
GPIO15,MTDO MUST be HIGH on boot, pwm output on boot
1K to gnd on GPIO15 seems to work to disable boot but changes flash timing also
GPIO34 to GPIO39 are inputs only
GPIO6 to GPIO11 (SD2 SD3 CMD CLK SD0 SD1) are not available for use (used for connection to external flash)