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The thing is, we already can - just not regularly and not every night. It's true that asteroids occasionally become visible to the naked eye when they come especially close to Earth. The problem is just the predictability: some of these flybys aren't noticed until just a few weeks beforehand, because those things are damn hard to track in space. So you need a good sky calendar and some luck rather than a long wait - it could happen tomorrow or not again for two years.
You can already see asteroids with the naked eye right now, as long as they fly close enough to Earth - you don't have to wait long for that! There are always these events where a larger asteroid passes by our planet and you can see it without a telescope if you know where and when to look. NASA and other space agencies constantly track this and let you know when something interesting is coming up. So in short: yes, but not regularly - it depends on what trajectory the asteroid is on!
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