Yes,
http://codex.wordpress.org/Administration_Menus
Specific to your question add_submenu_page
: http://codex.wordpress.org/Function_Reference/add_submenu_page
Yes,
http://codex.wordpress.org/Administration_Menus
Specific to your question add_submenu_page
: http://codex.wordpress.org/Function_Reference/add_submenu_page