Yes! That is encouraged. Check out their comprehensive help page.
In addition, you can request help while playing a title - at the bottom of each title page on the Hoopla mobile app or within each content player on the hoopla website, there is a link or icon where you can report an issue or ask a question.
Using submit feedback is another way to get hoopla assistance. At the bottom of the hoopla website is a "submit feedback" link that can be used to start a support ticket. On your mobile device, this is found by pressing the help icons, (!) or (?) under "Settings".