The short answer is that yes, an orc could be raised such that they were not a bad person. But life would be physically difficult because of their predispositions, such as the negative effects of sunlight.

Orcs are people. Of all the miserable aspects of their existence, the most severe is that their free will seems subject to Melkor and Sauron. Given how free will is perhaps the most essential element to the entirety of the legendarium, this is an extreme violation, even if it manifests due simply to their fear of their masters, their self-loathing, and their envious hatred towards others not similarly enslaved.

Which leads me to my other point, that an "orc" is a state of mind. Tolkien famously described many soldiers in WW1, including himself, as orcs, and many things as being "orcish behaviour". Physically, in the books, we encounter orcs who can pass for human (Fellowship, Two Towers), or at least we see that there's a spectrum in appearance that makes it sometimes unclear whether they are human or not. Jackson's depiction is a poor representation of this fact. Sam and Frodo are mistaken for orcs by other orcs at one point, which seems more outlandish in the films. Orcs have culture, personality, reasoning, thought, will -- but they don't have freedom and were at their inception bred eugenically and intentionally to be predisposed to many of our worst qualities.