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Yes, this is possible, but it works using the normal Heat update mechanisms. That is to say, if you make some change to the server properties in the template then it will be updated, and if it can be updated in place (rather than creating a replacement) then it will. So to force replacement like this you need to change some property of the server that will cause it to be replaced (user_data is a good bet).

OS::Heat::AutoscalingGroup will do this update by default, but you can control batching with the rolling_updates property.

AWS::AutoScaling::AutoScalingGroup groups don't do any updates unless you specify the AutoScalingRollingUpdate update_policy (which also allows you to control batching).