Yes ofcourse, Take the Al Shamal Road and go straight for about 55 Kms. Then there is a left turn which will take you straight to Zubarah. But the Fort is not worth going for. Its the pristine beaches that are the major attraction.
Latitude : 25°58'37.11"N
Departure: 51° 2'43.56"E

Or copy & Paste the data below on your google earth search bar and press enter:
25 58.6185'N,51 2.726'E
and then trace the roads back to Doha.