No, you can't. The iPad app only allows for streaming a few live channels. No recordings of any sort.
Directv2PC will stream your recordings. So you could get the VOD program, which is recorded, then watch it with Directv2PC. Of course, you have to hold your mouth right, check the phase of the moon and have a computer that it will get along with. And that last isn't a given even on some new machines.