Yes, but it will drop the compression a little (64cc vs. 58cc chambers), and the bigger valves will make more top end at the expense of some low end torque. Also, if they really are camel hump heads (never heard of camel hump heads with anything other than 2.02, 1.60 valves)they may not have accessory holes drilled in the ends.
It's probably not an upgrade.
The 2011 Ford F-150 has 24 valves.
The 2005 Ford F-150 has 12 valves.
The 2003 Ford F-150 has 12 valves.
The 2009 Ford F-150 has 16 valves.
The 2001 Ford F-150 has 12 valves.
The 2007 Ford F-150 has 12 valves.
The 2013 Ford F-150 has 24 valves.
The 2002 Ford F-150 has 12 valves.
The 2012 Ford F-150 has 24 valves.
The 2014 Ford F-150 has 24 valves.
The 2004 Ford F-150 has 16 valves.
The 2010 Ford F-150 has 16 valves.