Yes they can, antennae grow back in one to two molts. Legs take longer depending on severity. Arms usually not too well.
I am always nervous when my mantids molt. I've had some sad losses but not often. I have put the worst in the freeze if they cannot survive. Others are fine even though they look abit wonky.
Its important to make certain they have good footing as well as plenty space beneath when they hang.
I would not use vaseline. If it gets in their spericules they will die. Help them hang so thier wings will grow straight.