Yes Anton, you can, but you may need to add a sequence to the figure in Scene mode first, to make the bones visible in the timeline editor. Clicking the plus symbol beside the figure in question will reveal all bones to which a controller has been applied, and can therefore be animated. Controllers (chunks of script that manage aspects of objects in scene mode over time) are not applied to everything by default, only to those things defined as being able to move. Applying a sequence to a figure will "activate" the figure's bones in scene mode.
Note: Only bones which are keyframed in the sequence are activated. One solution I have used is to create a sequence just 1 frame long, with keyframes on all bones, to apply to a figure in Scene mode, specifically to construct controllers for all that figure's bones.