Short answer is absolutely. Only real limitation is the way you design it.
What you do is you create a different “level” for the bottom floor and top floor.
Then you can use whatever object you want as your “staircase”.
Then, under “objects” there’s a section for none enemies etc. Strictly for things like doors and switches.
So you select invisible door on your ground floor, name it whatever you want (stair1 etc)
Then an top floor you do same thing. Name it “stair2” or what have you.
Then, to link the two together yoh click the invisible door object you created. It will ask you for the level and name of the door. Do the same thing on the other door.
You can also do cool things like make one way doors etc by only linking on one end.