Yes, of course. To remove rust naturally, you will need baking soda, vinegar, and an aluminum foil. First, soak the stain with white distilled vinegar then sprinkle some baking soda on there. Let that sit for several minutes, then fold an aluminum foil into a ball and use the ball to scrub the stain.
Note that a homemade rust remover will likely work for mild rust stains only. For heavy stains, you will need to use arust remover chemical. Again, this crude method will need lots of elbow grease (for the scrubbing) and time, as you have to prep the rust removal portion. If convenience and effectiveness are what you seek, consider getting a commercial remover.