Yep! I've done that. And, most of the time, the transition is made without much problem. Unless the fact that the cutting has to root all over again is a problem...
The best way is to slowly replace the water in your jar with potting soil. Get the potting soil wet and pour it in. At first, the soil will swirl down and mix with the roots without much work but as the water is replaced by soil, it becomes more and more difficult. Try not to disturb the roots or move the cuttings in your container as plants can't root in shifting soil. You might want to move your cuttings to a container that you can gently lift the plants out of after the new roots have grown. Otherwise, you will be breaking canning jars (been there).
The cuttings you have in soil will not put on new top growth until they are rooted. As long as they don't wilt or rot, all is well.
When rooting in soil or in water/soil try to find potting soil without added fertilizer. After your new plants are established and growing, feed with 1/4 strength fertilizer.
Have fun!