Yes, most car insurance policies generally return premiums you paid if you prepaid.
Depending on the insurer and the state, there may be a non-refundable fee that you won't get returned to you. Or you may have a car insurance cancellation fee to pay out first, or a short rate fee, which is 10% of the unused premiums.
So one way or another, you'll get most of your unused premiums refunded, but you may not get all of it. Then again, you may receive all of it. As noted, it depends on the insurer and the state you live in.