Yes you can use Icon Developer to do so:
Thats what I do.
1. Find the package you want in the IconPackager window
2. Click on Icons & Cursors
3. Click on Desktop/Start/Folders etc.
4. Rightclick on the icon you want and select Edit Using Icon Developer (assuming you have the prog)
5. Rightclick on the icon size you want and select Export Image(s)
6. Name it / Save it and viola!