Yes you can do this using the steps here:
https://learn.microsoft.com/en-us/azure/aks/api-server-vnet-integration#enable-private-cluster-mode
az aks update --name <cluster-name> --resource-group <resource-group> --enable-private-cluster
You can mark it 'Accept Answer' and 'Upvote' if this helped you
Regards,
Abiola