Very difficult to say. Depends what kind of relationship you had in the first place, how close was that platonic friendship.
Also depends on you and your friend, what kind of personality you have. If you can put it behind then yes being friends is ok, maybe even better. You can both bring it up every now and again and laugh about it.
But if you either/both feel embrassed about it than no you can not be friends again.
I've had a fling with one of my friends and now he is a close friend. BUT I also had a one nighter with another friend and he is still embrassed about it and he still avoids me. Other friends tell me he still has feelings for me. So I'm hoping maybe one when he is safely married we can be friends again.