Depends on what you mean with "cloud database".
You can restore a .bak file to SQL Server running in an Azure VM.
You can restore a .bak file to Azure SQL Managed Instance.
You cannot restore .bak file to Azure SQL Database.
In the first two cases, you would have to put the .bak file in Blob storage so that you can access it from the VM/MI.
For Azure SQL Database, a .bacpac is probably the simplest option as long as the the database is not too big.