Yes. As per the Kubernetes SD documentation at
https://prometheus.io/docs/prometheus/latest/configuration/configuration/#kubernetes_sd_config
you can set the api_server parameter to point to the cluster's API
server (which would need to be accessible from your Prometheus VM). You
would also need to set the correct authentication parameters (basic auth
or bearer token). You'd be responsible for setting those up within the
cluster and updating Prometheus if the token changes. You might also
need to set tls_config section depending on what CA you are using (to
supply the CA certificate file).
--
Stuart Clark