Latter-day Saints believe the answer is yes!
Is it true that no man has seen God?
John 1:18 “No man hath seen God at any time; the only begotten Son, which is in the bosom of the Father, he hath declared him.”
JST: John 1:19 “And no man hath seen God at any time, except he hath borne record of the Son; for except it is through him no man can be saved. “
The video above shares several biblical passages in which God is referenced.
Isaiah 6:5 “Then said I, Woe is me! for I am undone; because I am a man of unclean lips, and I dwell in the midst of a people of unclean lips: for mine eyes have seen the King, the Lord of hosts.“
Acts 7:55-56 “5But he, being full of the Holy Ghost, looked up stedfastly into heaven, and saw the glory of God, and Jesus standing on the right hand of God,
56 And said, Behold, I see the heavens opened, and the Son of man standing on the right hand of God.”
Lehi’s Vision, 1 Nephi 1:8: “And being thus overcome with the Spirit, he was carried away in a vision, even that he saw the heavens open, and he thought he saw God sitting upon his throne, surrounded with numberless concourses of angels in the attitude of singing and praising their God. “
Several accounts from the Old Testament:
This suggests bodily features of God and an ability to see Him. The Children of Israel are still at the foot of Mt. Sinai at the time of this writing. 2
This type of opportunity to see the face of God or his entire body (Stephen’s stoning context) isn’t a casual or common experience. See the verse below in John 6.
John 6:46: “Not that any man hath seen the Father, save he which is of God, he hath seen the Father. “
This verse in Hebrews stresses the same point:
Hebrews 12:14 “Follow peace with all men, and holiness, without which no man shall see the Lord”
Jesus himself said the following:
Matthew 5:8 “Blessed are the pure in heart, for they shall see God”
Moses was initially fearful to see the Lord, Exodus 3:6:
“Moreover he said, I am the God of thy father, the God of Abraham, the God of Isaac, and the God of Jacob. And Moses hid his face; for he was afraid to look upon God. “
But later in his ministry Moses was permitted to look at the Lord’s back, Exodus 33:23
Moses’ encounter with God couldn’t be much plainer than read below. Many saw God and survived to tell about it.
After Jacob’s wrestle with the angel, Jacob shares this account:
Numbers 12:8 “With him will I speak mouth to mouth, even apparently, and not in dark speeches; and the similitude of the Lord shall he behold: wherefore then were ye not afraid to speak against my servant Moses?”
Deuteronomy 34:10 “And there arose not a prophet since in Israel like unto Moses, whom the Lord knew face to face“
1 Kings 11:9 “And the Lord was angry with Solomon, because his heart was turned from the Lord God of Israel, which had appeared unto him twice“
Summary: The Old and New Testament attest that people do see the Lord under the proper circumstances and when they’re prepared.