Yes, you can.
The money is withdrawn from your bank account on the date you specify (if filing on or before the deadline) or when your return is accepted (if filing after the deadline). We don't charge an extra fee for direct debit.
With direct debit, the IRS withdraws the entire owed tax amount from your bank account. Direct debit for partial payment is not available, and direct debit is only available in TurboTax if you e-file your federal return (although paper-filers can use a similar service from the IRS as a workaround).
If you owe the IRS and you're e-filing, you'll see the payment option Withdraw the money from my bank account when asked how you want to pay your federal taxes. This is the direct debit option.
You'll also see the direct debit option on your state return if you owe state taxes and your state offers direct debit (not all states do).