Nope, you probably can't _trace_ it, because the exact lines and curves are probably copyrightable.
But you can look at where the streets are, and redraw it yourself. Or use the street names to fill in blanks on the map you drew seperately. Etc.
In the U.S. This discussion has a lot of people mentioning "the statute" without saying what statute in what country! In the US at least, the actual bounds of copyright are (and have been for 100 years) defined more by case law than statute.