Varamyr Sixskins does not completely believe in Haggon and the rules of skinchangers are more like code of ethics, rather than rules.
Men may eat the flesh of beasts and beasts the flesh of men, but the man who eats the flesh of man is an abomination.
Abomination. That had always been Haggon’s favorite word. Abomination, abomination, abomination. To eat of human meat was abomination, to mate as wolf with wolf was abomination, and to seize the body of another man was the worst abomination of all. Haggon was weak, afraid of his own power. He died weeping and alone when I ripped his second life from him. Varamyr had devoured his heart himself. He taught me much and more, and the last thing I learned from him was the taste of human flesh.
A Dance with Dragons: A Song of Ice and Fire: Book Five, Prologue
Coming back to your question, is it possible to warg into another human?
The answer is Yes, Varamyr avoided it for following reasons
“I should have taken one of them when I had the chance. One of the twins, or the big man with the scarred face, or the youth with the red hair. He had been afraid, though. One of the others might have realized what was happening. Then they would have turned on him and killed him. And Haggon’s words had haunted him, and so the chance had passed.”
A Dance with Dragons: A Song of Ice and Fire: Book Five, Prologue
In the books, there is only one instance when a dying man tries to warg into another human, that is when Varamyr tries to warg into Thistle.
“He summoned all the strength still in him, leapt out of his own skin, and forced himself inside her.
Thistle arched her back and screamed.
Abomination. Was that her, or him, or Haggon? He never knew. His old flesh fell back into the snowdrift as her fingers loosened. The spearwife twisted violently, shrieking. His shadowcat used to fight “him wildly, and the snow bear had gone half-mad for a time, snapping at trees and rocks and empty air, but this was worse. “Get out, get out!” he heard her own mouth shouting. Her body staggered, fell, and rose again, her hands flailed, her legs jerked this way and that in some grotesque dance as his spirit and her own fought for the flesh. She sucked down a mouthful of the frigid air, and Varamyr had half a heartbeat to glory in the taste of it and the strength of this young body before her teeth snapped together and filled his mouth with blood. She raised her hands to his face. He tried to push them down again, but the hands would not obey, and she was clawing at his eyes. Abomination, he remembered, drowning in blood and pain and madness. When he tried to scream, she spat their tongue out.”
A Dance with Dragons: A Song of Ice and Fire: Book Five, Prologue
Varmyr failed to warg into a human, he was weak and hungry but he was a strong warg.
“None of them had been as strong as Varamyr Sixskins, though, not even Haggon, tall and grim with his hands as hard as stone.”
A Dance with Dragons: A Song of Ice and Fire: Book Five, Prologue
So in the books only Bran has managed to warg into humans, Meera (very short duration) and Hodor.