CQRS usually means that Commands (modifying the system) are handled differently than Queries (checking the current state of the system).
Of course, you can absolutely create a REST API where there is one set of resources that you can modify but not read (Command resources), and one set of resources you can read but not modify (Query resources). But that would definitely not fit the general idea of what people expect from a REST API.
Also, such an API would be relatively hard to make HATEOAS-compliant, for those that care about "ultimate"/"true" REST.