Yes, but without vectors?
Is it any easier that way than using Minkowski space? The required math background is the same either way - you don't even need any calculus if the examples are properly chosen so we're comfortably in the realm of high-school math. For example: spaceship flies away from Earth at .5c for a year, turns around and returns to Earth two years after it left. How much time passed on the ship? Try solving this problem using the methods Einstein used in his classic paper (top of page 11). Now compare with the Minkowski approach: spacetime interval out is ##\sqrt{3}/2##, spacetime interval back is the same, total time is ##\sqrt{3}## years.