Yes, you can have a lucid dream any time you enter a REM cycle. Your first REM cycle kicks in 90-120 minutes after you fall asleep at night. You will enter REM sleep on average every 90 minutes.

Begin working on recognizing dream signs, performing reality checks, and practicing MILD. You do not have to wake yourself up to have a lucid dream, in fact, most of my lucid dreams are still dream induced. That is, I suddenly recognize in the dream that is is a dream.

Now for OBE. I know nothing about it and have yet to have only had one person who has come close to presenting me any objective proof that they are for real, and his case was more of a near death experience than a classical OBE.