Do it all the time. One ramp I use, the trailer tires were actually off the end of the ramp in river mud, and I have to pull them up over the bottom lip of the ramp with my Trac's tires on a wet, muddy ramp. Thought I might have to have my wife help push with the boat motor, but the Trac pulled it out like a champ. 4.10/limited slip.
The right tires make all the difference in the world. Good quality all terrain tires should work. Tires meant for the highway will spin. I have Pirelli Scorpion ATs.