yes you can!
lisence has nothing to do w/ putting bike on road, because you can ride w/ a permit, like i said above.
every state is different, im now in pa and you can ride where ever you want in pa on a permit, by yourself, you just can't ride alone at night.
but newyork is you have to have someone w/ a lisence w/ in a mile of you they can even be in a car!