Yes, as long as the repair order (RO) has not been closed/invoiced and you have the appropriate permissions.
If the RO has not been closed before, you can select the ellipses icon in the upper right of the vehicle section in the RO and choose to "Change Vehicle."
If the RO is closed or was closed in the past then re-opened, you cannot use the Change Vehicle option. You will need to create a new Estimate with the correct vehicle.