Yes. Here is this mechanism as an example.
Replace line #142 of example/OpenGL3test.cxx by this :
//Fl_Gl_Window::draw(); // Draw FLTK child widgets.
Fl_Gl_Window::draw_begin(); // Set up 1:1 projection
Fl_Window::draw(); // Draw FLTK children
fl_color(FL_FREE_COLOR);
fl_font(FL_TIMES_ITALIC, 25);
gl_draw("Drawn by gl_draw()", 10, 100);
Fl_Gl_Window::draw_end(); // Restore GL state
and you'll see text drawn by gl_draw() above the GL3 scene in a partially transparent white
(that color was defined before in function add_widgets()).
But, the GL1 scene containing text doesn't use the same coordinates as
those used in the GL3 scene below. Therefore, you would have to compute
adequately the coordinates of the point where to draw text.