Yes !, through Paralinguistics, one of the varieties of Non-Verbal Communication, which through tone, pauses, inflections of the voice, speed or slowness of speech, etc. allows it perfectly.
I would argue, following Lisa Feldman's (an others) theory of emotion (see: how emotions are made, excellent book on emotion) that while AI and ML advancements might be "excellent" at detecting changes and inflections in the voice, these cannot be attributed to an emotion, because emotions are not fixed states and are not expressed in a unique manner in any individual.