No, not on a device that has already been set up with user accounts.
Setting a device as fully managed (Device Owner mode) is only possible during the initial device setup, before any accounts are added. This is by design - Android enforces this restriction to prevent a management agent from silently taking control of a device that a user has already configured.
There are limited exceptions:
ADB command (dpm set-device-owner): This can set Device Owner on a device that has been set up but has no Google accounts or secondary users present. However, this is a development and testing tool, not a production deployment method. It also requires USB debugging to be enabled and is not practical at scale. It cannot be used with AMAPI.
DPC migration: If a device is already managed by one DPC, it may be possible to migrate to another DPC or to AMAPI without a factory reset, depending on vendor support. See Can I migrate devices from a custom DPC to AMAPI? for details.
For production deployments, the supported methods all begin from a factory reset state: QR code, zero-touch, KME, NFC, DPC identifier, or managed Google account provisioning. See How can I provision a fully managed device? for the full list.