Yes you can cook beans without soaking them first.
The reason that you soak beans before cooking the beans is to remove the gas from the beans and to help the beans cook faster.
But if you want to just place the beans in a crock pot, slower cooker or stove top cooking pot you can do so without soaking the beans first.
I usually just cook my beans without soaking them and they cook just fine.
To cook beans on the stove just use a cooking pot and fill the pot about half way with beans.
Then add water to cover the beans.
Next bring the water up to a boil and then turn it down to simmer so that the water does not boil over.
Cover the pot with a lid but leave it open slightly to allow steam to escape and check the beans every 10 to 20 minutes and stir them.
Add more water to the beans when needed.
It can take around 8 hours to fully cook beans on the stove depending on how many beans you're cooking.
Some beans may cook in as little as 3 to 4 hours to always make sure to check on the beans.
When the beans become soft then they are ready to serve or eat.