sure
lets say ur internal server on the inside with ip address 192.168.1.1
and u want to map web traffic to it
do:
static(inside, outside) tcp interface 80 192.168.1.1 80 netmask 255.255.255.255
if u have public ip u can put it instead of the interface word, also u can leave it
u can map whatever port u want
tcp 80 here for eaxmple only
dont forget to make access-list from the outside source any going to ur outside interface ip and allow it regarding the port u want to permit it
good luck
Please, rate if helpful