Sure. I use the ESP32 (rather than the older ESP8266 mentioned here) and I program in C and the ESP API [1]. The provided software has a lot of features and is pretty nice to work with. There's also a vscode plugin which makes configuring and programming the device a breeze.
Thanks. Aside, that looks a lot more developer-friendly than many other vendor-provided tools/frameworks I've seen in the past. I hope the others follow suit.
[1] https://docs.espressif.com/projects/esp-idf/en/stable/esp32/...