Yes, fine on factory or other heated grips. I have factory heated grips. The adhesive is just a strip about 1/2 wide to stick the 'tail' of the Grip Buddy in place, then you wrap the rest, (no adhesive on it), around the grip and attach the velcro to the tail to secure the whole thing in place. The adhesive is just tacky enough to help you put the grips on, but it also seems to help avoid unwanted movement once they are in place.
FWIW, I have the foam Grip Puppies on another bike and they are quite durable. The one piece construction means removing the hand guard ends to install, but that's not a big deal. I got the GB on sale at a BMW event and bought them as an impulse buy, but am happy with them too.