You can, assuming you're connected via a scart cable. My Sony KD32DX100 has a menu setting for which signal to send down the AV output, analgue or digital. Set to digital, then set the VCR 'channel' to AUX input (or in my Sharp VCR case L1), and away you go. You can even record the digi channel while watching something else via the analogue tuner.
I have a KV32DX30 and have succesfully recorded a digital channel from the TV. On mine, you have to have a fully wired scart connected to the Scart 3 (AV3) and connect to AV1 on the video. If your video has smartlink or similar, that will download the program layout to the video from the TV aswell.