Like a traditional Android App or iOS app directly inside a tile? No. You can hyperlink to apps, but neither Android nor iOS has a concept of embedding parts of apps within other apps (nor within web pages).
You could find out if the app has a “shortcut launcher” and use a tile to launch the app in Model Window.
In this way the app overlays the dashboard, but you can click the top left corner to close it and return to the dashboard.
I did something similar with Home Theaters Direct App which controls my house audio.
If you are feeling adventurous, you can find the URL by using this technique:
I assume there is a similar technique for Android.
As an alternative, you could use iOS shortcuts - which have their own URL Scheme.
This will “takeover” and won’t exit back to dashboard…