Absolutely! Adding a guest link to your site is simple and easy to do.
There are several options too.

You can create a permanent link that allows the Guest to connect to your session to by simply clicking a link or a button.

Optionally, you can add a form that will request the Guest enter their name, email address, and the session code.

You can even create a remote support link that joins the guest to your session in support mode so you can take control of their computer (with their approval) to provide them with help or remote assistance. And you don't even have to be on the same operating system as your guests!