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In the short term yes (long term I dunno, he didn't come back again). Bloke brought a lovely but cheap old Italian crusier in (so thick walled steel). I'm not sure how but the forks were bent in (crash I think but there was no other signs of damage and I never asked). My boss (at the time) removed them. Placed them in the vice (with some wood to protect the metal) and pulled on them. Took a few goes to get the right angle but didn't seem more difficult than cold setting a frame. There should be some give in steel frames if done carefully.
As I say it was a cheap cruiser thing (looked good though) so precision wasn't super important. I think the owner had been riding on the bent forks for a while before noticing.
I've seen it done. Wasn't too hard.
No idea why you'd actually want to do it though.