Yes of course. There is an example of such action in rules.
Example: In the first action phase Rick chose the Expand 3 action. Since he has 2 shares of Majestic (yellow) and 1 share of Republic (blue) he is allowed to expand these companies. • He decides to take one blue cube [...] • He then takes another blue cube [...] last cube he takes is from the supply of Majestic (yellow).