Can UE4 bake animations?

[HAF-Blade]

Looked it up but it seems to be more a bake control rig keys. I suppose you don’t use a control rig

Baking Animation to Control Rig

Control Rig is pretty amazing stuff - is there anyway to bake an animation into control keys? EG I have a walk cycle I want to modify - would like to bake the IK arms into keys and then modify them