Yes.
For devices running iOS 7 and higher
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Connect to a WiFi network that has AppleTV or AirPlay speakers enabled.
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Click on Settings, then select General.
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Select the AirPlay icon.
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Choose where you want to route the SXM App’s audio (AirPlay Speakers, AirPort Express, AppleTV).
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This can also be done by selecting the Airplay icon in the volume control bar, accessed by using your device’s side buttons to raise or lower the volume.
For devices running iOS 6.x
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Connect to a WiFi network that has AppleTV or AirPlay speakers enabled.
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Double tap the home button to bring up your device’s multitasking tray.
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Slide the tray to the right once (on iPad and iPad2) or twice (on iPhone and iPod touch). Select the AirPlay icon.
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Choose where you want to route the SXM App’s audio (AirPlay Speakers, AirPort Express, AppleTV).