Generally not. The yoke is in fact adapted to the physical structure of the ox but not to that of the horse, donkey or mule.
The maximum pulling force in the ox (in bovines) is located at the base of the neck along the spine, where the withers yoke is placed, while in equines the maximum force is mainly through the shoulders and chest. Almost always horses, donkeys and mules pulled, and still pull today, wearing the collar.