Is a REST API with CQRS Possible?

If you’re developing an HTTP API (what most would call REST) how does that fit alongside a Task-Based UI and CQRS? How can you create a REST API with CQRS? For starters, resources don’t need to map to Entities. Second, HTTP Methods don’t need to map to CRUD. Resources can be whatever you want them to be. In which case, they can be commands and queries.