You can do it, but it is a synchronized transmission. If you are not EXACTLY perfectly matching rpm to gear speed when you float it, you will wear the synchronizers out.
But if you must, it's like driving a semi, you put light pressure on the stick and let off the throttle, the stick will fall into neutral and you must time it perfect to pull it into the next gear when the rpm matches that gear. This happens pretty quick, like a half second. Hard to explain with showing you, but that is the jist.
You can do this in a pinch if your clutch hydraulics go out, but I wouldn't make a habit of it. You will wear out the synchronizers, and then it will grind going gear to gear from then on out. Only way to fix is to replace the synchros.