Yes!
And this is actually very easy to do; simply right click on the Prop or Device you want to attach, in the Right Click menu you’ll find an option called “Attach” which will give you a list of all the actors you can attach it to, you can also use the eye-dropper tool for easier selection.
If you get a “This actor is unsupported” or something along those lines, make sure both of your actors are “Moveable” in their Details panel.