Yes. There are two ways to do so. 

Select Salesforce authentication from the authentication type drop-down, 

Then enter your username, select the org type (if you are not sure which org type you have please read this article first). Select the Enhanced domain check box and enter your custom domain. Once you are finished entering the domain, click Authorize.

Select My Domain / Government Cloud from the authentication type drop-down, then enter your custom domain information and click Authorize.

Then enter your custom domain information and click Authorize.

And you can get the domain URL from Salesforce as below.

For more information, see our guide on managing org connections in the app.