It is possible for humans to attempt it, but not for long. Still, there’s no harm in trying.
By joining together in this sexual union, you and your partner can enjoy all the benefits of higher understanding and become one with the universe. Furthermore, it is suitable for all Buddhists, Hindus, New Age explorers and anyone who likes that sort of thing.
A full explanation of the YAB-YUM sexual position is sadly outside the scope of Godchecker, but you can probably read about it in the glossy magazines — with illustrations.