Yes, this can be done using plugin events that Kuzzle creates on top of API routes added by plugins: https://docs.kuzzle.io/core/1/plugins/guides/events/plugin-events/
These events behave exactly as native API events, the only difference is that Kuzzle prefixes the API controller name with the plugin name to prevent name collisions.
FOr instance, if you have a plugin "myplugin" that adds an API controller named "foo", with an action "bar" in it, then the following events are automatically generated:
myPlugin/foo:beforeBar
myPlugin/foo:afterBar
myPlugin/foo:errorBar