There are some boiling pots you can see from the road; however, unfortunately, you DO have to hike the trail to be able to view the main attraction.
We used the Cold Boiling Lake trail (starting at Kings Creek) a month ago. So you enter Bumpass Hell from the South-East. We saw everything without crossing into the restricted areas. Nice views as there were no boardwalks. #NiceTiming TLDR: yes!
Thanks! Your answer is awaiting moderation.