Yes you can! And I have an article that details how to control your robot from C# here on CodeProject. Have a look here:
Basic Robot Control using NKH Mindsqualls Libraries
It uses the NKH Mindsqualls library, you may wish to see if there is a new version. It works really well and my article shows how to do the basics which includes running motors.
Hope this helps,
Edit: Have a look at this page for a quick start guide to getting working with the library, it has all the essentials:
(There is also v2.2 of the library available that I think you may want to download.)