Yes you can mint an NFT from any Candy Machine if you have the CandyMachineID. You have to be carefull because there are multiple Candy Machine custom program so you need the program ID too (the metaplex deployed CMv2 program is: cndy3Z4yapfJBmL3ShUp5exZKqR3z33thTzeNMm2gRZ).

In order to mint from an deployed CM you need the mint price + 0.012 SOL (fees), check that has some supply left, it doesnt have a gatekeeper setted (if you wanna mint using a CLI), the CM is live or you have the whitelist token thats requires. If you dont met any of this requirement you will get charged as a bot (you will lose 0.01 SOL and wont get any NFT from that CM).

If you have the ID you can create ur own mint page where you set the CMid on the env file and ur own RPC and you can mint there. Or just use the Cmv2 CLI creating a cache file that has the CMid

I assuming that the CM is owned by the metaplex CMv2 program that I show before so you can use official metaplex tools to mint.