Yes you can, but if there is heavy rains, then the forest and police department won't allow you to reach the waterfall. Even if you reach forest, it will be difficult to cross two streams in forest.
sorry for delay madam, actually after reaching hanamkonda, its straight high way towards hyderabad, at about 23 KM from Hanamkonda, you will reach Chinna pendial village from there you have to go right (can see the Kaman on road) then you can follow my video to reach temple. Thank you