The answer is yes. There are specially designed denture cleaning toothbrushes, or a soft-bristled brush is also fine to use.
Try to avoid hard bristles, as these will damage the surface of the denture. Denture cleaners, hand soap or mild dishwashing liquid are recommended for cleaning, as toothpastes are far too abrasive.
Even if you have few or no teeth, you should still pay attention to the state of your mouth. Your mouth should be brushed with a soft-bristled toothbrush and fluoride toothpaste twice a day and pay special attention to cleaning teeth that fit under the denture’s clasps. Plaque that gets trapped under these clasps will increase the risk of tooth decay.