Yes, you can add one manually in the passwords section of the Settings app or by long-pressing on a relevant QR code. It offers to auto fill exactly like a OTP received in iMessage.
Would really like to see 2FA supported like Safari now does.
You can currently add OTPs in Safari's settings or when right-clicking a QR code when setting up 2FA.
You can then auto fill in a OTP using TouchID seamlessly.
It also seems to be included in Safari's password export so hopefully it can be seamlessly imported in Orion!