Yes, since most modern chargers and cables have internal chips to communicate capabilities with for things like fast-charging. It is not difficult to have the chip identify itself as something else, and execute a payload.
A common attack method is to have it show up as a keyboard, and execute a series of key-sequences when connected to a computer (like opening and executing things through a command prompt).
It is also why you should try and avoid plugging random USB cables/chargers into your phone/computer when out and about, since you don't exactly know if the other end is what it appears to be.