Not in a way that achieves the same purpose as Telegram. Telegram is like Twitter, which is well suited for interaction with people you don't know. No wasted effort on security since everyone is speaking in public anyway.
Signal groups are poor at that. The work required to encrypt messages increases with group members. People don't want to show their phone numbers in large public groups, and Signal also lacks the group admin/moderation options necessary to handle many hundreds or thousands of members.
Signal has groups, telegram has groups and channels.
Signal has normal groups like WhatsApp, where you configure the settings so that only admins can send messages, then it might slightly become like telegram channels.
Telegram is probably the only tech in world, which has this unique mechanism of communicating. Cloud backup, groups/channels, anonymous usernames, e2e encryption feature (1 to 1, not by default), censorship resistance more than other messaging/social media companies, all bundled together.
Signal groups are poor at that. The work required to encrypt messages increases with group members. People don't want to show their phone numbers in large public groups, and Signal also lacks the group admin/moderation options necessary to handle many hundreds or thousands of members.