Yeah.
You will need to check it out in more detail, but essentially if you can pass the BB code parser as a parameter to the template ( I think ) then you can do something like this:
{xen:helper bbCode, $bbCodeParser, $content.message}
EDIT: I said "I think". I might be wrong. You may very well just be able to use $bbCodeParser in the template without passing it.
Check it out. It's used on the BB Code Help page so you could check out XenForo_ControllerPublic_Help