Can I open lightning component in Visualforce without using Lightning app.?

Hello,

I add the lightning component on the vf page with use of the app  and its work all good like that :
"$Lightning.use("ContactCMP:ConDemoLightningApp", function() { })".

But according to my requirement I don't use of the lightning app , I want to direct access  the lightning component,
means I am saying that I want to direct access of the lightning component in the  vf page
Like that : " $Lightning.createComponent(); "

Is it is possible ? If yes then help me to out of this.