@Richman As someone who is currently in training to become a pharmaceutical technician (and maybe later pharmacist) in theory this is indeed possible. I do not know of a real life example though. But something that poison mentioned here reminded me of is "Curare".
Curare is a plant-based poison used by the Indigenous people from South American for hunting animals.
Said poison is applied to the tip of arrows and when the animals are shot, Curare enters the blood stream and kills them.
The reason why the hunters can safely consume the meat afterwards is because the poison only can act as such when it enters the blood stream. When eaten though its destination is the stomach where it is metabolized through the whole digestion process and in the end neutralized and, like everything else we eat, excreted.