It is possible...
Assuming the XLR feed carries a mono signal, and you want that mono signal to reach both ears,
I suggest this:
XLR (male) line level feed from PA -> XLR-XLR (female-female) gender changer -> passive transformer DI box ‐> custom cable (1/4" TS plug, with the hot lead split to 2 separate RCA plugs) -> Topping headphone amp.
Using an XLR-to-RCA cable can be a bad idea since the XLR feed is balanced and the RCA is unbalanced. This shorts one of the balanced XLR feed lines to ground, creating a possibility of killing the output circuit on the mixer. The DI box avoids that issue by correctly converting balanced to unbalanced signal.
Depending on your cable building or shopping skills, this *could* be built rugged enough for stage use, though I'm not a fan of RCA connectors for stage use.