Yes, but you should exercise caution if you do so. Although the Tor browser and Dark Web websites are available on Android devices, you’ll need to use a third-party application for iOS called The Onion Browser.
If you don’t like The Onion Browser app, try “Dark Browser” — it works with Tor and I2P networks and can be downloaded easily through the Apple App Store. However, accessing the Tor network using third-party mobile devices can be dangerous and should be avoided. To access Tor and remain as safe as possible, use your Windows, Mac, Android, or Linux devices instead so you can access the Tor browser directly.