It certainly depends on whether or not your lens manufacturer supports this officially or has planned for people using it. Some mechanisms won’t be pushable, which means you might break them when attempting to do this.
You could always send a mail to the specific lens manufacturer and ask them about it. I would not recommend doing it for any lens that’s worth a lot of money or that you can’t afford breaking right now. I’d also not suggest doing this if the manufacturer advises you not do to it. They know best if the mechanism inside your lens is able to handle it or not.
In addition to that, this might cause undesired effects on lenses that do not use a direct manual zoom, but instead use a sensor with a servo motor to automatically adjust the zoom when you turn the non-mechanically connected ring. These might start being miscalibrated or might actually create a current that may or may not damage the lens or the camera, as motors are usually the same as generators. Turning a motor usually creates electric current and if your lens/camera isn’t able to handle it, the current may or may not damage it. (This is also why people advice holding your computer fans still when cleaning dust off of them, it may break sensitive components)
Also, think about why you want to do this in the first place? Is it really worth potentially risking that the lens mechanism can’t handle it just so you can avoid twisting the zoom ring?
TL;DR: Ask your manufacturer. If they advise against it, don’t ever do it. If the lens is automatic, don’t do it.