Generally, yes. However, there are a lot of fonts and each may have different limitations or restrictions.
See section E of the Sequoia license: https://www.apple.com/legal/sla/docs/macOSSequoia.pdf
E. Fonts. Subject to the terms and conditions of this License, you may use the fonts included with the Apple Software to display and print content while running the Apple Software; however, you may only embed fonts in content if that is permitted by the embedding restrictions accompanying the font in question. These embedding restrictions can be found in the Font Book/Preview/Show Font Info panel.
(Older licenses are similar in terms. For a full list of OS licenses, go here: Legal - Software License Agreements - Apple
Open Font Book and find the font that you would like to use. In the Info panel there will be the details of any limitations imposed on the font.
In a short review, there is at least three common embedding definitions:
1: No embedding restrictions.
2: Editable embedding. This font may be embedded in documents and temporarily loaded on the remote system. Documents containing this font may be editable.
3: Preview and print embedding. This font may be embedded in documents and temporarily loaded on the remote system. Documents containing this font must be opened “read-only;” no edits can be applied to the document.
To compare this to a commercially purchased font:
The basic P22 license allows for the embedding of P22 fonts only if the document created is set to "Print and Preview". If P22 fonts can be extracted, edited and therefore transferred in any way, an additional license is required to account for each recipient of the document and font file(s)
Check each font as you use it to be sure you are in compliance.
Hope this is helpful