Yes. The ADA does not require the provision of any auxiliary aid that would result in an undue burden or in a fundamental alteration in the nature of the goods or services provided by a public accommodation. However, the public accommodation is not relieved from the duty to furnish an alternative auxiliary aid, if available, that would not result in a fundamental alteration or undue burden. Both of these limitations are derived from existing regulations and case law under section 504 of the Rehabilitation Act and are to be determined on a case-by-case basis.
For additional information, take a look at the following resources:
FAQ: What kinds of auxiliary aids and services are required by the ADA to ensure effective communication? [2]
FAQ: What is considered an "undue hardship" for a reasonable accommodation? [3]
Fact Sheet: Effective Communication [4]