I'll go out on a speculative limb and say yes, maybe, depending on the definition of "significant".
Planetmaker's answer notes the infeasibility of raising Earth's orbit if nothing else changes. But what if we also lower some other body's orbit at the same time?
First, let the orbital energy of an object with mass $m$ orbiting the Sun with mass $M_S$ at an average distance of $a$ be its kinetic plus potential energy with respect to the Sun:
$E_k + U = \frac{1}{2}m v^2 - \frac{G M_S m}{a} = \frac{1}{2} m (\sqrt{\frac{GM_S}{a}})^2 = \frac{G M_S m}{2a} - \frac{G M_S m}{a} = -\frac{G M_S m}{2a} $
Our goal is to raise the Earth's average orbital radius by 1%. Using the above equation and the specific values listed at the end, we need $2.62 \times 10^{31} \ \mathrm{J}$ to do that. (This is all consistent with planetmaker's calculation, I just want to show my own work.)
Where can we get this energy? Let's try stealing Ceres. If we drop its orbital radius down to match Earth's, we gain $2.65 \times 10^{29} \ \mathrm{J}$. That's only 1% of the required energy. But if we instead are content to change Earth's orbit by 0.01% (is that "significant"?) then we have enough energy to do it in Ceres. If not, we need to get more bodies involved. (Since Ceres alone is already about 30% of the asteroid belt mass, they will need to come from elsewhere.)
How do we transfer energy from Ceres to Earth? We arrange for a series (no pun intended) of Gravitational slingshots between the two bodies, each time letting Ceres pass just ahead of the Earth, thereby transferring energy to the latter. (As an outline of the encounter plan, my basic idea is we start by lowering its periapsis to match Earth, then all encounters happen at Ceres periapsis, thus preserving the possibility of future encounters.)
How do we change the orbit of Ceres to cause these slingshots? We apply the same technique, recursively if needed. Find something else nearby, presumably also in the asteroid belt, whose orbit we can perturb to cause encounters with Ceres, gradually steering it toward the eventual encounter with Earth. The bottom of the recursion is some object small enough to be pushed (perhaps slowly) into an encounter with the next object using existing spacecraft and propulsion technology.
This would of course take a long time, at least tens to hundreds of thousands of years, but still well short of the hundred billion years planetmaker cited to move Earth using terrestrial energy sources.
At the core of this idea is the observation that N-body gravitational systems are chaotic, meaning that small changes in initial conditions can cause very large changes in later system state. To move the world, Archimedes asked for a lever and a fulcrum. But with modest technology, accurate foresight, and ample patience, in principle we should be able to manipulate the solar system almost at will without either.
The Wikipedia Asteroid capture article discusses some related concepts.
Specific numbers used in calculations (generally taken from Wikipedia):
- $G = 6.67 \times 10^{-11} \frac{\mathrm{m}^3}{\mathrm{kg} \ \mathrm{s}^2}$
- $M_S = 1.99 \times 10^{30} \ \mathrm{kg}$
- $m_\mathrm{Earth} = 5.97 \times 10^{24} \ \mathrm{kg}$
- $a_\mathrm{Earth} = 150 \times 10^9 \ \mathrm{m}$
- $m_\mathrm{Ceres} = 2.38 \times 10^{20} \ \mathrm{kg}$
- $a_\mathrm{Ceres} = 414 \times 10^9 \ \mathrm{m}$