Yes, I've added drain plugs to my 5R55E's and 4R70W trans pans. I used a universal B&M drain plug kit I got off eBay (around $8). No welding necessary. It works great with no leaks. You just need to drill a hole at the pan's low point and make sure the plug's nut doesn't interfere with anything. A pilot hole and a step-drill work best for producing a nice clean, round, flat hole.
Or you can just use a cheap transfer pump down the dipstick tube as other's have suggested.