From RFC 1945, "Hypertext Transfer Protocol -- HTTP/1.0", section 1.3, "Overall Operation":
On the Internet, HTTP communication generally takes place over TCP/IP
connections. The default port is TCP 80 [15], but other ports can be
used. This does not preclude HTTP from being implemented on top of
any other protocol on the Internet, or on other networks. HTTP only
presumes a reliable transport; any protocol that provides such
guarantees can be used, and the mapping of the HTTP/1.0 request and
response structures onto the transport data units of the protocol in
question is outside the scope of this specification.
So, if you can implement a reliable transport over UDP then you can use HTTP. Of course, at that point you may as well use TCP instead of abusing datagrams.