Unless the concrete contractor that built the concrete driveway designed it to withstand loads heavier that regular passenger vehicles, the answer is NO.
Concrete driveways are typically poured four inches thick, giving the concrete driveway enough strength to withstand loads of regular vehicles (up to approximately 8,000lbs). A fully loaded concrete truck can weigh over 70,000lbs, almost nine times heavier than your driveway was meant to withstand. Even if the concrete does not crack immediately, there will be issues down the road.
Instead of putting the integrity of the concrete driveway at risk, we recommend using a concrete buggy, wheelbarrow, or pump to pour the concrete.