I’ve had some luck with attaching silicone pie mat to prints that I wanted to have a grippy surface.
Downside is it picks up any grime, dust, dirt easily. No biggie when you throw a silicone mat in the dishwasher, more of an issue when you can’t do the same with something 3d printed.
Another consideration could be large furniture non slip pads. Something made for putting on the feet of a couch/sofa for example, cut to size?
Not natively no. What you’re looking for is this
Achieve true 3D printing with non planar slicing Note: Check the update below
Conical Slicing: A different angle of 3D printing
Not something easily done with slicers and there are hacks to do things like this but nothing that works out of the box and it’s a tough challenge with various nozzles, toolheads, material shrink properties
Edit: More recent update that could be of interest
Non-planar 3D printing in a modern slicer thanks to the community