Yep ...
At Software -> Managed Software Delivery
For this to work you will have to install the "Software Management Solution Plug-in" Agent
If it is a single task, you can also create a task scheduling policy (runs without any plug-in).
Don't schedule your task, but create a "Client Task Schedule" and select your task (thats a policy than will run your task ... f.e. "At computer startup").
This is done with right clicking any task folder (New -> Client Task Schedule)