Yes, though manage your expectations about condition.
Sittanavasal is a Jain rock-cut monastery from around the 7th century, and its ceiling murals — a lotus pond with elephants, buffalo, fish and dancers — are the most significant early paintings in India after Ajanta. They were painted in a fresco-secco technique using natural pigments.
What survives is fragmentary. Vandalism and time have taken a good deal, and the remaining panels are protected behind a barrier with limited lighting. You are seeing pieces of something extraordinary rather than an intact ceiling.
Above the cave, the Ezhadipattam stone beds where monks slept are carved directly into the rock with pillow ridges at one end — seventeen of them. That part is intact and, for many visitors, as affecting as the paintings.
The ASI charges a camera fee separately.