Yes, but they need to be a registered user and you need to delegate your signing rights to them.
Go to the contract you want to delegate to a colleague. Look below the "Sign"-button and click on "Delegate my signing rights".
This will open a menu where you can search for, choose and message the colleague you want to sign the contract.
The colleague you add will automatically be assigned as Signatory, and you will be changed to an Influencer.
Your recipient will be notified of this change via email, and it will be added to the audit trail.