Is there a point and shoot camera that will allow me to take pictures in an auditorium without using flash?
Yes. Sony RX10 is among the best point'n'shoot cameras in a dark auditorium because it has a relatively large image sensor (1") and what's even better it has a f/2,8 constant aperture zoom lens to let you "get close". The constant aperture means that you have the wide aperture in use through the full zoom range.
The bad news is, it is not cheap. Amazon currently sells it for $1300.
There is a question "how do I tell which point-and-shoot cameras can take good low light photos?" which may be of help when you try to find a camera cheaper than the Sony RX10.
Disable your flash, via menu options, and take the picture (if your uncertain how to do so, take a look at your camera's manual). Most compacts include an icon with a thunderbold with a slash over it, like this, on its mode dial wheel. That's the one you should use.