Yes. A subscription form can be used to subscribe your visitors to multiple lists by filling out the one form.

When creating your subscription form you can select which mailing lists to allow users to sign up to. Then you can select the "Allow user to select lists they wish to subscribe to or unsubscribe from" option if you want to provide them with a list of checkboxes that they can select from for each list. 

Or you can select the "Force user to subscribe to or unsubscribe from all lists selected above." option if you don't want to let them choose the lists on their own.