Yes, it is possible following different steps. you can:

1. Go the Sign App and create a template. Then go to the required record, click on the gear icon, click on Request Signature and send that attached template.

2. You can go to Activity Types and add a default Signature Template for the Activity Type Request Signature. Then you can schedule a Request Signature activity on the record. You could change the template to be signed from the scheduled activity itself.

3. You can go to the Sign app and either use one of the saved templates or upload a new document and click on Send.