Can a dealership sell you a car without car insurance?

I bought a car, thinking I had car insurance, and I want out. I didn't put any money down, yet i signed the paperwork and drove off the lot with the car. I brought back the same day, but of course they didn't take it back. Can they hold me to the loan if i didnt have car insurance and i have no job? I am only 19 and want a way out.