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Yes, Creo does have this capability. Even earlier versions of the system. This kind of modeling is known as Explicit or let's say Direct modeling. CoCreate as a PTC product was created for this kind of modeling and few months ago was this product renamed to Creo/Elements-Direct. After this summer it will be just Creo Direct.
Here is official PTC link for this product and at the right side of the web page are videos of that kind of modeling.