Yes, you can if you are joining as a participant. There will be some features not available for the hosts.
Step 1: Download Zoom Meeting for iOS app.
Step 2: Click Sign In. And Sign in with SSO.
Step 3: Click on "I know the company domain".
Type in nus-sg
Step 4: Sign in with NUSNET ID and password.
Step 5: If your host has provided with you with a join URL link, click that link.
If your host has provided you with a Zoom Meeting ID and password, click on Join.
Step 6: Type in the Meeting ID and click OK.
Step 7: Click Join Audio button.
Select Call using Internet Audio.
Step 8: Click on the Participant button to access the Participants Panel and Feedback buttons like Raise Hand.
Step 9: Click on More button to access the Chat panel.