YOU BETCHA! Singing is like almost everything else, in that if you study the techniques and practice, you will improve. There are vocal coaches who take movie stars and celebrities who are cast in a singing part and teach them to sing passably in a month or two.
If you have a decent library nearby, see if you can find Seth Riggs' book on learning to sing with CD, or Roger Love's.
One of my old roomates taught voice and I used to see his students progress from horrid to wonderful.
So, go for it. . . . . . .