I think that a correctly designed quad could, but it'd need bigger props than are common on quads.
I'm kinda guessing here, but I think you'd need roughly the same disk area on the quad as on a similar-weight helicopter that could autorotate
-- and it'd need variable-pitch props that could go to negative pitch before they slowed down, and probably purpose-written software in the fly- by-wire system.
There'd be oodles more stuff that could kill you with a malfunction than with a Heli, basically.