Hi Sarah,
Yes! This can be done with a standard form processing step called "Send Email Notification". Details on configuring form processing steps can be found here - Forms: Overview & Processing Steps (you'll want to search the page for "Send Email Notification" to find the configuration for this specific step).
I would also recommend the "E10: Fundamentals of Forms and Landing Pages" course with Eloqua University if you have not yet taken it. Here is a link to the course description. "Send Email Notification" is one of the 5 most common processing steps we walk through in that class.
Have a good weekend!