Yes you can.
<?php
$args = array(
'theme_location' => 'primary', //change this value with coresponding menu area
'menu_id' => 'main-menu', //change this value with wanted menu
);
wp_nav_menu($args);
?>
menu_id is the name of menu created in WP admin>Menus. I create menu with name “Main menu” so I put main-menu there. That menu is connected with my primary menu area in WP admin>Menus.
Change those values with your values and place that code into single.php in wanted area… or any other template.