Yes, but you will still need to use the homebrew launcher on your unmodded 3DS.
Use
soundhax to launch homebrew on your 3DS. This is assuming your 3DS is on a recent firmware between 9.0 and 11.2.
On both 3DS systems, use JKSM to import/export data as you desire. I recommend you use the most recent .3dsx/.cia builds from
this page.
The .3dsx version can be used via homebrew launcher, whilst the .cia version can be installed to a CFW.
Note that the .3dsx version is not capable of exporting "System Saves", which are saves for system titles like Mii Maker, and StreetPass Mii Plaza. Only a .CIA version can do that.
Once you've exported the saves you want from your unmodded 3DS, you can copy the contents of the JKSM folder across from the 3DS' SD card, to the 3DS XL's SD card.
Importing them will require that you have initialised the save data of the game you want to import to, this usually means just launching the game and closing it. If you don't do this, you may get a "Save archive not found" error when attempting to import.