Yes. You can sign up for the free Basic plan at the bottom of the Mobicip pricing page. The Basic plan only gives you access to Mobicip’s web filtering function, the ability to monitor and lock 1 device, and a rudimentary version of the activity reports.
If you’re looking for a good free parental control app, I recommend Qustodio. Its free plan gives you access to plenty of its features, including screen time monitoring, daily time limits, restricted time periods, and web filtering.