Definitely possible without a pano head. The pano below was taken with a compact (Sony W-50), mounted in portrait orientation on a bog-standard tripod - I just set it to night mode and took about 14 shots with varying amounts of overlap (aimed for about 20% though).
I used to us Photoshop's photo merge to do them, but having read such positive things about MS ICE in this thread, I'm going to try it out (still without a pano head, but this time with a DSLR - A Pentax, naturally).
180° Panorama - Looking North towards Flinders Walk from Southbank, Melbourne.