Yes. All you have to do is find the profile folders, and then the profile you were using.

https://support.mozilla.org/en-US/kb/how-run-firefox-when-profile-missing-inaccessible

http://kb.mozillazine.org/Profile_folder_-_Firefox#Navigating_to_the_profile_folder

https://support.mozilla.org/en-US/kb/profile-manager-create-and-remove-firefox-profiles

https://support.mozilla.org/en-US/kb/back-and-restore-information-firefox-profiles

Once you find that profile, look for the places.sqlite file. It contains your History and Bookmarks.

You can also recover the other data as well.

Most likely, yes. Firefox stores your data under a hidden folder, so set Windows to show hidden files and folders:

https://support.microsoft.com/en-us/help/14201/windows-show-hidden-files

Then, if we assume your USB drive will be assigned drive E, then try:

E:\Users\your-user-name\AppData\Roaming\Mozilla\Firefox\Profiles

The articles in the first reply above will help you identify valuable files there.