Short answer is yes, a domain name can be transferred from one registrar to another in almost all causes however their are a few causes where you won’t be able to.
Any domain name that has been registered within the last sixty (60) days as this is ICANN’s rule, not from where you registrared the domain name.
Any domain name where you have opt-ed in to place a lock on the domain name if you have updated your contact information.
If you did not unlock the domain name from your currant registrar, as they will decline the request from the new registrar.
If you have an unpaid bill to pay, however they cannot refuse to allow you to transfer to another registrar if they are telling you, you need to pay to keep your domain name, most of the time when you pay the transfer fee you also get a one year added on.