Yes, but there are several paths to getting there. There is a fee for every path I know of.

If you are a high-level frequent flyer, your airline club may invite you to apply. I know Alaska does.

If you have a passport, you can apply for GOES, and get TSA Pre✓™ as a by-product. You don't have to actually fly internationally to go this path. You will probably have to travel to an Customs and Border Protection (CBP) station near the Canada or Mexico borders to do this. I arranged a stopover at the airport at Phoenix. Incidently, GOES approval means you use your card instead of your passport (at least for Canada and Mexico).

At some point, it may be possible to apply for TSA Pre✓™ directly, buy you could not when I applied last year.

It's complicated, and even the security offices don't understand all the alternatives. It's still worth it to reduce the hassle for frequent flyers, in my opinion.