This is certainly possible, and seems to work reliably on those desks - I did it recently for a show that ran for a month without incident. This was a Jester ML24, but they're principally the same in terms of midi operation. You just need a standard midi cable to connect the MIDI out of your audio interface to the MIDI in of the lighting desk.
There are a couple of ways to control the Jester over midi, which are explained very well in the manual and are easy to use. Essentially, you can either send midi notes to set the level of submasters, or send MSC commands such as GO CUE # to recall your programmed cues. I did that latter, so the all audio and lighting cues were neatly controlled from the one "go" button. You could do this for the specific cue you want to get the timing right for, or for every lighting cue in your show - one of the benefits being that you can have very clear cue descriptions on the Qlab list (the screen on the Jester is a bit of a mess by comparison).
Have a look at the section in the manual and give me shout if you get stuck.
Gareth.