Of course they can. And they will.

Just before the cows begin to reach near the cliff - as they start to turn, having no further to go - Link runs along the top of the cliff. For a moment, he matches pace with the stampeding herd, running alongside in parallel.

Then he jump. No hesitation, no doubt. A leap that's practically acrobatic, like he does this all the time.

(He kind of does do this all the time.)

And then he lands - right on the back of a cow.