Yes! The game itself supports [PRINT_MODE:TEXT] in the ini. Depending on the version you might need a virtual x server to trick the game into starting though.

Used that to run it via wine + quemu on my android phone, at a whopping 5fps at embark. Didn't play for long, but was totally worth it!

On Linux/macos, you can enable terminal output by setting PRINT_MODE:TEXT in init.txt

DF is noted in the article