Actually, you can. Defragmentation is a filesystem-level thing, it doesn't matter what is on the lower, block level.
But in the case of the SSD there is no disk head whose movements should be minimized. Thus, it won't be faster, not even a little bit.
Some OSes and tools forbid this only, because theirthe decisions of their developer companies like to mix the meaning of "you don't need" and "you can't". But these are different things.
Probably there are multiple hacks which could avoid this ban (regedit, or exporting the drive as iscsi and re-importing to the same machine, etc). In this case, you will find a very fragmented drive, whose defrag will be very long. It is because the OS doesn't care about fragmentation on their case. And, as other answers also mention, this defrag won't make your system faster, but it will reduce its life.