The answer is yes. Depending that its not bent too bad. I've straightened 3 in my sordid past. Used to crash a lot and it doesn't take much to bend a 35mm tube.
Yes simply put it in the simplest of presses. The bend was always at the lower Triple, a convenient place. Support the tube with furniture at each end, the bend goes under the piston of the press. Slowly press it past straight, then release, it will keep returning to the bend. Press it again past straight, release. It will eventually stay put. Spin the tube in the furniture, it should rotate under the piston without dragging. That'll put it within 1-2thou straight.