Yes...
Generally, whether a finish is present or not, Dents would be pin pricked ( even making fairly deep pin holes, depending on how deep the dent is ) then, with a Q-Tip, bring Water, Distilled Water ideally, to the dent, and saturate the afflicted area, saturating most where the dent is deepest, least, in it's shallow graduations...
It really does not take very much saturation, much Water, to arrive at a proper amount being absorbed.
After a couple hours of this having been repeated lightly a few times, a regular Ironing Board 'Iron', set to a 'Cotton' Temperature, can be brought to bear on the spot, 'rolling' the Iron over it only breifly, even using a sheet of white thin Paper between Iron and Wood...be pretty brief with the Iron, see how things are.
The moisture in the dent will boil and go 'Pssst!' and re-inflate the dent.
Over done, where the dent had been, too much Water, too long a time under the Iron, and one can even acheive a proud area this way...so, do not over do.
Do it lightly, if it needs to be done again, do it again, rather than accidently over doing it.
May or may not cause the finish to blanch white or milky, but, any old time Finish Man could apply some magic stuff and bring that back alright.
