Yeah, I think so. You can even learn on your own. You can tape or record a song with someone singing and then try to emulate or copy them. You are supposed to sing from your diaphragm and not your throat. Singing from your throat makes your throat sore. There are singing exercises to help you sing better, although I don't know what those exercises are. Anyway, I listen to opera singers a lot because they can hold a note a long time, and they can fluctuate their note ranges quite a bit while singing, you know going from a low note to a high one and putting accents on various notes or tones to give them emphasis, shock or delight value. In other words, pleasant sounding sounds. Anyway, copy a singer and try and sound like them. Also, pay attention to the vocal nuances, and try and copy those as well. Nuances are little idiosyncrasies that allows you to recognize which artist is which. Also stay away from hard rock as many of them tend scream instead of sing. Even then, there is a method for singing loud and you won't wreck your vocal cords. Good luck and practice until you get where you want to be.
If you're absolutely awful than I don't believe you can become amazing, but if you are decent you can practice vocals and pitches and get better. That's what singing lessons are for, it's one of those 'practice makes perfect' things