Yes! Almost everyone is able to comfortably carry their child providing their carrier fits them well.
A good rule of thumb is that your child should feel much lighter and easier to carry when held in a suitable sling or carrier than they do when you carry them in your arms. If you’ve been using a carrier and its caused discomfort, pain or left you feeling that your baby is ‘too heavy to be carried’ then it’s very likely that the carrier is either unsuitable for you or your baby, or not well adjusted for your bodies.
If you visit a sling library or a carrying consultant they will be able to advise you on the correct fit for your existing carrier and help you adjust it so it is comfortable for both you and your baby. Check out Carrying Matters to find someone local to you.