Hi @Alsyia,
Welcome to the Auth0 Community!
In short, yes!
Yes, you can add this info to a token (you will likely want to add them to the id token for you app, but you can add to access as well, although the access token is more intended for api authorization). Depending on whether you want to add a role or a permission, or both.
Take a look at these resources:
This turns on/off the RBAC settings you have configured for the particular api.
Let me know if this helps,
Dan
Edit: removed FAQ