It already supports a bunch of commands to modify the config while it is running, via the Unix socket, but there's no way to pipe an entire config file to that socket.
It wouldn't work for version upgrades, of course, but that's not really the main use case.
Another option could be to start up a parallel HAProxy that listens to a different port. Then use iptables to route traffic to that port instead of the old one. Not sure if this would break connections, though, or if there is a way to prevent breaking connections.