Usually, yes. But the result may be affected. In other words, the tattoo may not heal as well and as a result the appearance of the tattoo may be less than optimal.
If you have been prescribed Xarelto™ for a short period of time, I would wait until it is finished before you get a tattoo. If you were prescribed Xarelto™ for life, I would avoid "big tattoos" and talk with the tattoo artist beforehand.