Yeap! There’s a way!
You can play with the responsiveHeight option combined with the class fp-auto-height-responsive.
This way you make sure to disable the snap scrolling behaviour of fullpage.js when reaching certain height. And by using the class fp-auto-height-responsive you make sure your sections get the height automatically from its content, so they won’t be forced to be 100%. (They can be bigger or smaller).
You can find an example of this technique here:
And remember, all you need to know about these features is detailed in the the fullpage.js documentation 