Yes, you can. There is an exception for the early withdrawal penalty of the 10% tax for qualified higher education expenses. The expenses must be for you, your spouse or the children of you or your spouse.
Please see details below:
https://www.irs.gov/Retirement-Plans/Plan-Participant,-Employee/Retirement-Topics-Tax-on-Early-Distr...
Page 25:
https://www.irs.gov/pub/irs-pdf/p590b.pdf
