I know you could in older versions of icq, not sure about newer versions
They were idiots when they first designed it.
The way it used to work was when you came online icq would poll the status of everybody on your contact list. If user b returned status INVISIBLE then it would show offline on your list

So people just made an app that looks for the return of INVISIBLE status and they would tell you who was invisible.
The way that would make sense, would be for the server to respond OFFLINE so the user (you) would never know.
Maybe there's a reason he doesn't want you to see him/her?!