Custom transport protocol over UDP using Boost library

I read that Boost.Asio and Boost.Beast are good libraries for networking in C++. I also understood that I can use a custom transport protocol using raw_sockets. Can I create my own protocol using the boost library that can be used on a client and on a server at the transport layer? If it's possible, which should be the starting point? (I want to implement a RUDP).

I ask this question because I want to know that it can be done before I start learning the library.