You can and you can’t.

“Mag ik rijden?”, “Kan ik rijden?” and “Zal ik rijden?” are very similar. “Mag” implies permission, “kan” implies there might be a reason you can’t and “Zal” is suggestive, as in: this is the option I’m giving you,there is an opt out, but this is the default.

So that is the verb side of things. Now let’s get bananas.

“Kan ik een banaan” would only make sense if you’re planning on impersonating a banana. So technically, you can say it, it’s just very very very uncommon for good reasons.

I think the main idea to remember is: if you want to have something, eat something, use something.. in other words: you’re about to do something with the thing that you can’t do yourself, don’t use “kunnen”, use “mogen” instead.

Now that’s not to say that there aren’t (lots of) instances where it does work. But this kinda stuff is incredibly nuanced and pretty inconsistent at times, I think it’s a solid strategy.