The answer is yes it is possible. In your domain settings, you will need to make sure your MX records (mail exchange) are correct.
If you are looking to have mail from your domain delivered to an existing gmail account, you might also consider a simple forwarding. You'll get the email via gmail, but a copy is also on your mail server. For some of my e-commerce work, that's the setup I use. The copy that stays on my server is my archive and backup for all of my activities, but my phone alerts me to email activity.