Short answer : no.  

Long answer : You can partially do it by putting in a particular pane in the skin, putting a module into it, then ticking 'show on all pages'.  However, whenever you have a specific module control used (denoted by the /ctl/_controlname_ , like /ctl/edit or /ctl/terms ) then the pane with that module in it will come up blank, because the use of a 'ctl' in the url means DNN will only load the specific module control, and no others. 

Correct  answer : you can build your own skin objects, which are like modules except embedded in the skin.  These aren't entirely the same as modules but you can probably achieve what you want to do in terms of displaying content.

It's also possible to build a module that can also be used as a skin object, though this is a bit more fiddly.