Yes. ClickOnce allows you to add prerequisites in ClickOnce deployment. It should download the installer packages for those prerequisites to your development machine. When you publish the ClickOnce application, choose Download prerequisites from the same location as my application. An error will occur if the installer packages aren’t in the Packages folder.
Reference link: https://docs.microsoft.com/en-us/visualstudio/deployment/how-to-include-prerequisites-with-a-clickonce-application