The Sages say yes on Nedarim 20b.
Rabbi Johanan ben Dehavai advocates for a more ascetic approach to sexuality that is rejected by a different Rabbi Johanan in the name of the Sages, who assert that anything a man wants to do with his wife, he may do, equating this appetite to one for food, and acknowledging that people have different tastes. Rambam, and Tur endorse this approach.
It is of course noteworthy that The stringent opinion of Rabbi Johanan ben Dehavai is cited in Nedarim before it is rejected. In fact, the Rambam and the Tur both bring down the praiseworthiness of one who treats this act with reverence and does not indulge in it excessively, though they do not require it. It is likely that Rabbi Joseph Cairo in shmuel's answer is advocating for this approach rather than requiring it.
So there is room and weight given to both approaches, but Halacha is lenient.
