All you need to do is open a port for your friends in your firewall and tell them the external IP address (and password if set). When you play single player you already start a server that you connect to.
If you are asking how to change a singleplayer game of yours to a multiplayer game, then yes, this is easily possible. If there is a router firewall inbetween you have to forward the port to the internet in your router to make it work. Your friends have to connect to your PC or you can setup a dedicated server. If you are asking whether you can play just with your friends, then the answer is yes, you can create a private game that is not listed in the server listing and only your friends know the IP address of the server to connect to and the password that you definitely should set. If you are asking whether you can play without internet, then the answer is no, you need a connection to steam