Yes.

Create a form by going to Forms -> Create Form on the navigation menu on the left (Fig 1). 

Fig 1

When prompted to choose a Form Type, select Embedded Signup Form (Fig 2). 

Fig 2

In the Form Editor, click on the Select Lists tab (Fig 3). From here, you can select which lists you'd like to include in the form.

Fig 3

If you'd like to not give them the option but instead force them to be subscribed to multiple lists, you'll need to change the check boxes to hidden fields in your HTML code and make sure you "checked" them as the default value.



In this example, see the highlighted difference: