Yes.
For a new R-notebook, use this link. (shorthand is colab.to/r )
You can learn from IRkernel demos, e.g. demo.ipynb
Save a copy in your Google Drive, and make any changes you need.
2 more demos:
- Display.ipynb shows how to display HTML, images.
- Comm_Demo.ipynb shows how to communicate between R and JavaScript.
See more details in IRkernel Github.