It is possible, but you’ll need to leave in the early morning to make it work as it takes about 3.5 hours to get there. So you get on the Shinkansen from Tokyo station, you’ll need to get off at Nagoya station, and then change trains to the Kintetsu line Limited Express train (Ise-Shima Liner) to Iseshi station. You should make a reservation for this train. http://www.kintetsu.co.jp/foreign/english/about/limited_express/type.html
It's about a 5 min. walk to the outermost part (Geku) of Ise Jingu Shrine from Iseshi station. And it’ll take another hour for you to make your way to the innermost part (Naiku) so be prepared to spend several hours there. In the evening, take the Ise-Shima Liner back to Nagoya station, and take the Shinkansen to Kyoto.