Absolutely: I do this all the time with my TD-10. You connect MIDI out on the drum module to a MIDI in on your computer, and a MIDI out on the computer to MIDI in on the module. Route the MIDI input you chose to a MIDI track, record-enable it, punch record, and wail away. To play back, send that track to the MIDI out you chose, and the module will play its internal sounds back in sync with the other tracks in the tune. No GM involved: the drum module does the synthesis, not the computer or soundcard.
The best thing about this is that it allows you to change your mind about the drum sounds, and completely alter the kit using the module's programming and tuning tools- without changing the details of the performance. When you are happy with the sounds, you can then track the drum module's analog audio outputs to audio tracks, and you're ready to mix- or, if you use an external mixer, you can skip that step altogether and just mix with the analog outs.
In this simplest case you are simply recording and playing back the MIDI stream. It could be any random instrument out there. Once you get this basic setup working, you can do much more sophisticated things. There are MIDI patch maps that you can use to have the patch names you see in Cubase match the patch names on the module. The Steinberg driverbase has some, and there are more available at various web sites- do a search and see what you come up with. I got my TD-10 patchname map from the Steinberg site...
