There is 100% that. Any frame can have an 'export' set on it, where you specificy the format (svg, png ..), suffix, pixel density etc. The name will be set by the name of the frame, and '/' creates nested folders. Then on any page can go file->export to export all assets at once.
But if you're using some icon library that a designer has imported into figma like remix-icon, just import from the library directly in code. Importing and rexporting the svg would likely change it slightly.