Yes but it’s not the best fit. Orion's diameter is 5 meters and Falcon 9’s diameter is 3.7. This is not an insurmountable problem but a new payload adapter and new fairings would be needed. read more
Orion nodded, then asked, "Dwarf cheese?â "Cheese made by dwarfs.â "Oh,â said Orion, relieved. "They make it. It's not actually . . .â "No. What a horrible thought.â "Exactly.