yes they can i have had many hits from airsoft guns that have broken skin but they where from arenas and shot from higher FPS guns but normally they don't.
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Most will not, but if you are hit with a bb traveling about 400 fps or higher on bare skin it definitely could, although any sort of clothing would prevent that.
It's theoretically possible, although highly unlikely.
For an airsoft gun to break skin, it would have to have fps around 350 and up, fired from relatively close at bare skin.
Close range, higher speed gun, is going to sting like a sonovagun, but should not cause INJURY- with the exception of getting hit in the eye. Wear safety glasses.