Yes, you can do that by call the applybindings to the newly added elements
something like
var detail = $('<div class="modal fade" tabindex="-1" role="dialog" aria-labelledby="alertModal" aria-hidden="true" data-backdrop="static" id="modal">' +
'<div class="modal-dialog modal-dialog-centered modal-xl" role="document">'+
'<div class="modal-content">' +
'<div class="modal-header">' +
'<h5 class="modal-title">' + title + '</h5>' +
'<button type="button" class="close" data-dismiss="modal" aria-label="Close">' +
'<span aria-hidden="true">×</span>' +
'</button>'+
'</div>' +
'<div class="modal-body">' +
'<div class="compNode"></div>' +
'</div>' +
'<div class="modal-footer"> <button type="button" class="btn btn-primary btnOk">Ok</button>'+
'</div></div></div></div>');
detail.append();
ko.applyBindingsToNode($('div.compNode', detail)[0], { component: { 'name': msg, 'params': vm } }, vm);