Yes - Document Library Pro comes with a form which lets users submit documents from the front end of your website. This is useful for team members who don't have access to the WordPress admin. It's also useful if you want public visitors to your website to be able to submit documents.
Choose between auto-publishing newly submitted documents to the library, or holding them for moderation by an administrator.
You can either leave the document library submission form open to the public, or restrict it to authorized people only.