Anyone can call upon Heimdall with no problem at all - we know from both Thor and Thor: The Dark World that he can see everything in each of the nine realms at all time, and as such will obviously notice you calling on him.
What we don't know, however, is how he reacts to being called upon apart from in a few very specific circumstances. We have seen in both Thor: The Dark World and Avengers: Age of Ultron that he will happily open the Bifrost for Thor when he calls, but we also see in Thor that he is unwilling to open the Bifrost if it will endanger Asgard (we see this when Thor, Loki, Lady Sif and the Warriors Three unsuccessfully call on him to open the Bifrost when they attack Jotunheim).
I don't think we've seen an example of a non-Asgardian calling on Heimdall to open the Bifrost in the Marvel Cinematic Universe so far, but I see no reason that he would given his status of Sentry Guardian of Asgard. After all, he wouldn't even answer Thor, the Prince of Asgard and a personal friend, after he had been banished from Asgard and stripped of his powers by Odin in Thor.
But overall, no - In the Marvel Cinematic Universe, there is no evidence showing any non-Asgardian being able to successfully call on Heimdall.