If you also happen to have a Mac to run XCode, sure. I don’t believe there’s a way to compile and load iOS apps from any other platform? (And you certainly can’t do it from the device itself.)
You can technically compile iOS apps on any platform, but you won't be able to link against the iOS SDK without Xcode. So in practice it's a bit annoying. Loading iOS apps is pretty simple on any platform with Cydia Impactor.