Yes, you can, as long as it is AppleShare
IP.
This information-dense article describes the situation, but I am still finding things in it I had not seen before.
301183- Mac OS X 10.4 Tiger: "Connection failed" error when connecting to an AFP server
Executive Summary:
• 10.4.x has discarded its ability to share its files via AppleTalk. 10.4.x also cannot understand Macs (before OS 9) that can only share their files via AppleTalk.
• 10.4.x can share its files via IP, so any Mac from 7.5.3 on (with Open Transport 1.1.2 and AppleShare Chooser_Extension 3.8.3 or later) can share the 10.4.x Mac's files.
• AppleShare IP can share via IP, so it can share with all of the above.