It is possible. I have the similar case as yours. I've got a model, which consists of multiple separate parts. Each part has its own single material and own textures.
First join the meshes together with Ctrl+J.
Next create a new UV Map (press the '+' button in the UV Maps panel of the Mesh Data header and add a new image in the UV Editor window.
Unwrap your mesh with U-->Unwrap.
Go to Render header, set the bake mode to Textures and hit the BAKE button. It will create one big color texture map from the all textures you've apllied.
EDIT: Here's a case, where object has one material and multiple textures applied to each face of the cube (via Unwrap-->Project from View(Bounds)). Every face has its own UV Map slot.
I then marked seams for the cube, unwraped it and created new UV Map for it (called 'all'). Then baked the Textures. And here's the result:
Hope it'll help you.