Yes if you hold a valid Dubai driving license , you can drive and come through the road, first of all you have to take special permission from RTA -Dubai that your are traveling to Qatar with your vehicle, if the vehicle has the loan to complete, i think not possible. But if the vehicle is under your name and there is no loan of course you will get permission to travel with your car. There are two international boarder point , one for KSA and second one for qatar.