Yes. There’s an example called “WiFiClientSecure.ino”: https://github.com/espressif/arduino-esp32/blob/master/libraries/WiFiClientSecure/examples/WiFiClientSecure/WiFiClientSecure.ino
Basically, you need to access the site that you want to make a request. Then, you need retrieve the SSL certificate, copy and paste it in your code in the variable test_root_ca (you can do it in any web browser, if you click the lock icon in the URL bar).