As long as they are both running the same AsyncOS revision - yes.
Save the production ESA configuration.
Save the DR ESA configuration.
Open both with text editor (Notepad++, etc.) and copy the "Network Configuration" section for the DR ESA. Paste this same section to the production ESA configuration - and save as different file name, ie. new_DR_esa.xml.
Load this configuration from the DR ESA, submit/commit.
http://www.cisco.com/c/en/us/support/docs/security/email-security-appliance/117841-technote-esareplace-00.html