Yes you can create but the concept of creating contacts is wrong in SFDC. Only qualified leads are converted to contacts in SFDC.
Anyways if you would like to create contacts then you could create an external call under Integration->Outbound->Custom->Custom contact Events.
Create an external call with action as CREATE and entity as CONTACT. Please do not map the SFDC Contact ID. Last Name and company should be mandatory
CRM Integration: External Calls Refer to this for creating an external call
Clik here to view.
