Define "OK". Acceptable by code? Maybe. Call your local code department. Many municipalities around here do allow it but each year more and more are requiring tear offs. In addition the City of Chicago who used to allow 3 layers lowered that to 2 layers maximum. Maybe in another 20 years they will begin to require tear offs too.
If you ask me, no a layover on a sloped roof is not "ok". Why? Sloped roofs are designed to shed water, but if you are simply installing shingles over shingles, which is what a lay-over is, then you are not doing anything to defend against backup to that system. Ice damning, wind driven rains, flashings, ventilation... In addition there could be bad wood beneath the original roof, how can you fix that if you don't tear off the old roof. If you don't fix the bad wood, the new roof will just blow away.
What does the customer want. You said "replace" the whole thing. To me "replace" means tear off. I always assume the customer wants a tear off unless they specifically tell me otherwise. I always start my presentation by explaining how we are going to protect before tearing off then explain we look for rotten wood when we tear off. At this point if they don't want a tear off, they let it be known. I then try to talk them into a tear off explaining why, showing them pictures of rotten wood. If they refuse, ok, but I tried.