Yes.
This is 11 mm arborist rope, but not necessary. Any decent piece of cordage will do. I’m using an aluminum tube on black background for illustrative purposes, but a tree branch will work just as well.
Simple handle.
Wrap it in upon itself about 5 times and snug up.
Put them together.
This configuration is pretty sturdy and can be scooched around so the hand holds are even. Probably costs a few bucks for a 20 foot piece at any home improvement store.
With a little practice can be done, undone, and redone in less than a couple minutes.