Yes … I use an old Zoom H2 recorder recording the headphone out lots of the time to capture ideas
A TRS 6.5mm to TRS 3.5mm cable will do or one with adaptors, if you go from main outs you’ll need a dual TS to TRS 3.5mm (or TRS 6.5mm with 3.5mm adaptor)
Better recorders will have Line Inputs on 6.5mm jacks or even XLR inputs