Yes, you can.
In the old days, this was not possible (as evident from other answers). However, it’s possible now.
WordPress now lets child pages (of any post type that is hierarchical) from different parents to have the same slug / name. This is possible because now WordPress considers the entire hierarchical tree (parent-child combination) for uniqueness check.
So the following page URL(s) are possible now:
example.com/parent-1/child
example.com/parent-2/child