Yes, you can do so for the Method of voucher number as Automatic (Manual Override).
In the Restart Numbering table available in the Advanced Configuration screen of the Voucher Type, add each date at which the voucher number has to restart.
For example, you can maintain two years of Company data.
In FY 21-22, you create a sales voucher with voucher number as 1.
In FY 22-23, you want to create a sales voucher with voucher number as 1, as you want to restart the numbering in the new financial year.
TallyPrime allows you to create the voucher the same number if the date on which the voucher number should restart is configured accordingly in the Advanced Configuration screen of the respective Voucher Type.