Yes, its very much possible using Azure Hybrid AD join capabilities. In this process , on-prem creds/devices will be synced to Azure AD using Azure AD connect.
There are certain pre-req and plan needs to be in place for Implementing Hybrid AD.
Refer this detailed articled on how to steps : https://learn.microsoft.com/en-us/azure/active-directory/devices/hybrid-azuread-join-managed-domains
Note - Endpoints should have live connection with DC at the time of Hyrid AD join process, else it will fail.