Yeah, it'll be possible, but it's also going to be extremely high risk.That would be tricky. I think the best way for them to infiltrate is to stage some sort of false attack that separates a few of the clones from the rest. Then insert the Skin Jobs. Any difference in behavior can be chocked up them being injured during the attack. Aka they got a case of the rattles. As to palpy an the Jedi. a very long plan is in order to trip them up. Like months long.
Long term, I think the Cylons' best chance is to ALLY with the separatists and wrest control of that side of the conflict FROM Palps.