Yes; in my blog post and in the docs, the headless setup method is mentioned. Assuming you have a GUI-enabled installation of Pi OS, you can SSH into the Pi and install rpi-connect, then run:
rpi-connect signin
This will give you a URL to copy and paste into a browser. Authenticate with your Pi ID, and then the Pi will be connected.
rpi-connect signin
This will give you a URL to copy and paste into a browser. Authenticate with your Pi ID, and then the Pi will be connected.