welcome to GoY.
Yes you can. dig the hole bigger than the pot and loosen the soil in the bottom of the hole. this will help the roots get out into the soil.
plant the rose to the same depth as it is in the pot. You can add a product that contains beneficial fungus to the hole if you want. you can also add fish blood and bone granules depending on how good your soil is.
I would mix some compost with the garden soil before back filling the hole. firm the soil down with your boot to prevent the rose rocking in the winds. then water well for several weeks to help it establish.