You can with the custom design upgrade and some changes to the CSS, but there is limited width for the menu. When you exceed that width with your menu items, it goes to a second line. You can't put 50 feet of stuff in a 20 foot space.
The other thing is, no two browsers will render text and web pages the same, so it might be all on one line in, say, Safari and Firefox, but in Internet Explorer it goes to two lines. So even if you make the adjustments to get everything on the same line, it might not be that way in all browsers, and it also depends on how the preferences are set for fonts in a person's browser. If someone increases the font size in their preferences, it can push your menu to a second line.
This is just part of what we have to put up with on the web.
If I give you the code necessary to put all your menu items on one line, you probably aren't going to be happy with it since the spacing will be so tight that you won't be able to tell one menu item from the next. They will all run together. If I adjust the padding and decrease the font size so that the individual menu items are easy to discern, then the font in the menu will become unreadable, so that will have to be changed to something with a narrower stroke.
It can be done, but there are a number of changes that would have to happen to do that. If you want to change it, you will need the Custom Design upgrade, or try some different themes with smaller and less heavy fonts for the menu.