Depends on your definition of "small" and "knock."
If by small you mean a shallow dent over a 2-3" area that is smooth with no sharp creases or gouges, then maybe.
And if by knock you mean gradually applying reverse pressure with a C-Clamp with a couple of pieces of wood between the clamp heads and the bumper, then maybe.
Anything beyond that, I would say if you were lucky enough that the plating didn't crack on the original impact you'd be tempting fate to try and smooth it out, and likely will end up with a bumper with smoother profile and an unsightly rust spot that will grow between the steel and plating.
But my wife's Kicks (Nissan) has plastic bumpers so I'm not familiar...