Answer: Yes, and it can be done in 11 intersections.
Notation: $(M, C \mid M, C)$ = (left | right).
Initial state: $(3,3 \mid 0,0)$
- $CC \rightarrow$ $(3,1 \mid 0,2)$
- $C \leftarrow$ $(3,2 \mid 0,1)$
- $CC \rightarrow$ $(3,0 \mid 0,3)$
- $C \leftarrow$ $(3,1 \mid 0,2)$
- $MM \rightarrow$ $(1,1 \mid 2,2)$
- $MC \leftarrow$ $(2,2 \mid 1,1)$
- $MM \rightarrow$ $(0,2 \mid 3,1)$
- $C \leftarrow$ $(0,3 \mid 3,0)$
- $CC \rightarrow$ $(0,1 \mid 3,2)$
- $C \leftarrow$ $(0,2 \mid 3,1)$
- $CC \rightarrow$ $(0,0 \mid 3,3)$
In all the intermediate states, when there are missionaries on a shore, they are never in the minority compared to the cannibals.