Yes; I've gone door to door collecting money for a school trip.
The first few houses are difficult, before you get your script in your mind. But after that, you can just say the same things to everybody. They might ask questions but those are usually direct questions to which you will probably know the answers. If you don't know the answer, you can roll out whatever you've decided to say when you can't answer a question--admit to not knowing and, if the customer still needs the information, call up your boss on your cell phone to ask them, for example.
You'll probably be nervous the first couple of people, but that's okay. It's just nerves. If you stumble, nobody will be particularly angry at you. They might be confused, impatient, or even somewhat amused at the awkward paper kid. For that matter, you might be amused at yourself, looking back on it. We do silly things sometimes, and feel embarrassed, and then laugh about them later. I do prefer to laugh at my own mistakes, because it's a way of telling myself that they really are honest errors, and I don't need to take myself so seriously. After all, if I didn't hurt anybody, and just looked awkward, then there's no harm done and I can shrug and go, "Well, I've done it again!" 'Course if I managed to offend somebody I usually apologize repeatedly, and it's not nearly as funny, but they usually get over it.
Just get your script in your head, adjust it as necessary, answer any questions, use polite diction, and the worst that'll happen is they'll think you're a bit nerdy. In this age of computers, there's nothing wrong with that.