You can certainly help them with their work, advise them, and even teach/tutor them. So, yes, you can do all the "work" of homeschooling them. Whether or not you can sign off on their high school credentials and diploma will depend upon your state law. If the student was emancipated by the court, the safest thing to do would be to go back to the judge who signed the emancipation order and ask for a either a waiver or a letter that would allow you to do that.
If that does not work out, you still have some options. One is expensive and full of extra red-tape, but the student can get his diploma accredited by an accrediting agency. I don't know where you live, but here it costs about $400 and requires a home inspection and has a lot of hoops to jump through. Another alternative is for you to just tutor them to pass the GED. Perhaps the best, if you can't get the judge's permission, is to just do it anyway and then try to have a couple of the classes taken as dual enrollment at a community college. It is "usually" easier to be admitted to college as a dual enrollment high school student. If there are a couple of college courses successfully completed with passing grades, that will cause most employers to view the home school diploma as "legit."
The answer is the same as the last time you asked this. It depends on the laws where you live. Without knowing where you live, it is impossible to answer your question.