Yes, there is a way.
It’s an app called Unityremote 4, in this link you can find all the information on how to configure, you can do it without generating the APK, if you want to use it on a physical device or emulator, if you want to use it on an emulator, just install that App and configure it as it is on Docs of Unity3d.
Briefly the steps that will have to be taken for the proper use of Unityremote 4 sane:
Install the Unityremote4 App;
Connect your mobile device to your computer via USB (if an emulator, ignore this step);
Put the mobile device into programmer mode;
Log in to Unity3d and open the desired project;
Go to Edit > Project Settings > Editor;
Choose Device the option of Any Android Device or Any iOS Device (depending on the desired mobile device).
The other options within the Settings Editor, are not relevant but I recommend the use as it is in this image:
Download the App for Android: Click Here.
Download the App for iOS: Click Here