Yes you can but you have to pull some ninja skills.

**Using Google Chrome as the browser**

***UPDATE***
Thanks to Quora User for pointing out that you can skip 1-6 by doing this :

Get the video id from the URL, that's what coming after the v=
for example, in the provided provided in the previous answer the id is:
hSnB7zGW15M

After you got the ID all you need to do is put this address in your browser.
http://video.google.com/timedtext?lang=en&v=hSnB7zGW15M

This link also allows you to request a different language than English.
http://video.google.com/timedtext?lang=languageCode&v=ID

Language codes are available here: List of ISO 639-1 codes

Step 1. Open the video page and pause the video

Step 2. Right click anywhere on the page, and click on Inspect Element

Step 3. Click on Network tab

Step 4. On the video player click on CC and then click on Transcribe Audio button (for this video it says Translate Captions since it already has user generated captions)

Step 5. Under the Network tab some new items will start to popup, look for an item called timedtext. Right click on it and open it in a new window.

Step 6. Now you have the automatically generated subtitles with their timestamp s(the stuff inside of <>).

Step 7. Now if you want to get rid of the timestamps and just have the plain transcript without the code, here is what you have to do ;

7.1 Open up Microsoft Excel
7.2 Copy paste the subtitles inside one cell
7.3 Press Ctrl+ F
7.4 Click on replace tab and type <*> in the Find What section and leave the Replace With blank, and click Replace All.

Done !

Now you have the plain transcript.