Yes, assuming that the Teensy is connected to the RPI using USB...
A few years ago, I was playing with hexapod with RPI and/or BBB and/or Odroid... where I was using a teensy as the Servo controller... At the time, I connected to the RPI or the like using Putty(actully KiTTy) plus WinSCP and the like (note using Windows machine).
On the RPI I had built the Teensy command line loader (
https://www.pjrc.com/teensy/loader_cli.html) built and in the normal path stuff...
So I could build on my Windows machine, copy the executable to the RPI and through a putty window would run the command to flash the teensy
You can do all of his manually using command prompt and WinSCP.... (again different commands on Linux).
Later made it a bit easier, as I had a script window running on the RPI that looked for a file to be created in some location. If it found the file it would then automatically run the CLI loader app.
I also played around with the Arduino build and setup a upload with like menu in the Teensy area, and it was pretty hacked as I had it specific to an IP address, but had it such that if the build completed, it would then upload using an FTP like command line copy the file to the RPI...
But I don't think I have any of this sitting around any more as it was several years ago.