Yes, you can. If you assign a listing to rate plan X, it will still appear in the list of listings you can assign to other rate plans when you create a new rate plan or edit an existing one - you can still assign it in the "Assign listings" step.
When creating a manual reservation or sending a quote, you can select the rate plan you'd like to apply from the rate plan's dropdown.
In the booking channel, the listing will be available to book in all the rate plans, offering different cancellation policies for the guest to choose from (and optional meals or price adjustments, if set).