Hi Kishore,
Yes its possible. You need to enable site to site VPN connectivity between you on-prem network and azure. Refer the below article for more information and steps.
https://learn.microsoft.com/en-us/azure/vpn-gateway/vpn-gateway-howto-site-to-site-classic-portal.
there are other options like Express route but don't think your requirement needs that, Site to site is pretty straight forward way to setup and configure.