Yes, it’s possible you just need to get access to the underlying Java classes of JDBC, something like this:
# the first line is the main entry point into JDBC world
driver_manager = spark._sc._gateway.jvm.java.sql.DriverManager
connection = driver_manager.getConnection(mssql_url, mssql_user, mssql_pass)
connection.prepareCall("EXEC sys.sp_tables").execute()
connection.close()