Depends how far you mean.
There are many places in the world that are peaceful and prosperous and free, and have the highest self-reported happiness and other more objective measures of well-being like health and education. If some spots can do it, in theory, all parts can.
But violent crime happens everywhere. There's always a subset of people that are malevolent.
And disease and suffering happens everywhere; there's only so much that medicine and surgery can do so far. Plus I think a global lack of environmentalism and overpopulation is really going to do us in pretty hard one day.
So I mean I don't think any utopias will happen, but clearly some countries serve as models for what could be, compared to other countries.