Yes. Your Sky+ box has two analogue outputs (RF1 Out and RF2 Out). You'll need a TV card or a USB TV stick for your PC. But, make sure the card/stick is a hybrid digital and analogue, as the output from the Sky RF outs are analogue.
So basically, using a standard co-ax cable, connect from the RF Out to the TV card/stick, then using the software that came with the card/stick, scan for your Sky+ box.
It should come up on the PC as the same channel number set on your Sky box. To find the channel number, get your Sky remote, press Services, 4, 01, Select, then down to 'RF Outlets'. The RF Channel number will be shown on this screen.
From here on, you should be able to view anything that you have recorded on your Sky+ on your PC, as well as transfer it to the PC. You should also find that you can view Sky on the PC and therefore record programmes directly onto your harddrive.
The hybrid stick that I use is by KWorld.
For details on this, click here