Is there a way to replace the motor mounts without pulling the engine?

I think my mounts are shot. The engine seems to "twist" if you look at the starter pedal in relation to the toe pan hole while under hard acceleration in 2nd gear. What about the trans mounts? Can I replace engine and or trans mounts by jacking up the engine/trans enough to get clearance without using an engine lift and disconnecting the trans?

Thanks!