Yep.  You can direct mainline tubing up into your raised beds with the help of L-connectors and T-connectors for a tidy look.  If you don’t want to do all that fiddling, you can just drape mainline tubing into your raised beds too, although this may create bends that can reduce water flow. To keep your setup nice and secure, try attaching your tubes to the sides of your raised bed with loops of plastic strapping or metal straps.