No. Presoak/prewash products are generically designed to be rinsed off. As such, they contain any number of possible ingredients which will leave residues if not rinsed adequately. They are also not specifically intended to give adequate lubrication for dragging dirt over the surface, so if you don't rinse the dirt, wiping with a cloth has the potential to cause damage.
All that said and done, not everyone is quite as worried about all of this as I am and I have seen some people using prewash products this way. Not sure whether their monthly machine polishing sessions speak well for the approach!