The short answer is: yes

use strict;
use warnings;

my %Hash = (
    a => [ qw( i ii iii ) ],
    b => [ qw( iv v vi ) ],
);

# one way to do it
for my $var ( sort keys %Hash ) {
    my $array_ref = $Hash{$var};
    for my $element ( @{$array_ref} ) {
        print "$element,";
    }
}

exit;
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The foregoing (untested) code is pretty basic, but I often reach for simple things if I want to make what I'm doing crystal clear to others and even myself months down the road.