Yes that's possible.
1. In AppInventor, Build -> App (save .apk to m y computer) and download the apk to your computer
2. Save the apk to the folder C:\Program Files (x86)\AppInventor\commands-for-Appinventor on your PC
3. Open command prompt Start -> Run -> cmd
4. Type cd C:\Program Files (x86)\AppInventor\commands-for-Appinventor
5. Type adb install name_of_your_app.apk