Yes you can but you must be registered for PAYE for employers first.
Your agent will then need to register with the ERS service and request you as a client. An authorisation code will be sent to your company to confirm the request. If you want the agent to act for you, you should pass the code to them.
Please note: There can be a delay of up to 15 days between an agent requesting authorisation and receipt of the authorisation code.