Yep. I have two printed prototypes of different approaches to a mechanism on my desk that only exist because of months of staring at CAD in the evenings, learning new things, doing research.
They are not radical (they may be slightly novel in places; I have never seen 3D printed mechanisms like them).
I don't know if I could describe them in words at all, but if I could, it would only be because I worked through them in CAD in the first place.
For anything other than a trivial object I just can't see how you'd even come up with the words without having worked through the design -- what, on paper in 2D in pencil? After doing the maths? That's CAD in reverse.