Yes, many houseplants can be propagated directly in soil. Soil-rooted cuttings often transition more smoothly once planted because they are already adapted to the medium they will grow in long-term.
Use a light, airy, and slightly moist potting mix, such as a blend of perlite, sphagnum moss, or light soil. Keep the environment slightly humid while the cutting develops roots, which can be achieved by using a clear propagation dome or a plastic bag over the pot. Avoid overwatering, as too much moisture can cause rot.
Once roots are established, gradually reduce humidity and care for the new plant as usual.