Yes! For Prefect 2.0 you can use
this tutorial
for 1.0 this should be similar when it comes to deploying the infrastructure. The main aspect to keep in mind is that your agent only needs to open outbound access to communicate with Prefect Cloud. Cloud API never sends any incoming requests to your infrastructure, it always goes in a single direction - from your infrastructure to Cloud (your agent must actively poll Prefect Cloud API for scheduled runs)