Probably... You could probably check if an item is currently held, store said item inside of a variable, save the object you clicked on to memory, teleport the character to said object, set the item you stored in the variable back into your hand & then drop said item on saved object - well in theory anyway... I've not tested it out before.
What I do is teleport the active character to an objects execution position whenever I double click on an object or npc character & then I have it execute my "left_click" executed at destination command for said object.
hmm, I guess you should be able to execute anything then, but I don't know how it would react if you tried executing an action that doesn't exist in the actions associated with saved object. Would be interesting to see if it returns an error in the log or returns a unsuccessful comment from your active characters comment set instead.