The short answer is yes, but there are hefty penalties if you are younger than 59.5, even for so-called hardship withdrawals. Check with your benefits department to see if you qualify for a loan. You would then pay yourself back the principal and interest.
You can pull money from your 401K. However, if you are below the retirement age, you will have to pay taxes on the money pulled out AND a 10% penalty. This will cost 30-50% of the funds withdrawn.
Yes, you can typically(depending upon the employer plan) draw money from your 401k. But bear in mind that you will have tax implications. Speak with a tax professional first.