Yes. The Azure SQL DMA (Data Migration Assistant) is the tool you are after.
The Data Migration Assistant (DMA) helps you upgrade to a modern data platform by detecting compatibility issues that can impact database functionality when you upgrade to a new version of SQL Server or migrate to Azure SQL Database. DMA recommends performance and reliability improvements for your target environment and allows you to move your schema, data, and uncontained objects from your source server to your target server.
For larger migrations (in terms of number and size of databases) to Azure, you should use the Azure Database Migration Service, which can migrate databases at scale.