yes and no,
a simple Hello World Qt program should work out of the box and without much trouble.
But FireOS does not have access to Google Play Services and requires other specific modifications. For example changes in the AndroidManifest files for e.g. permissions.
But it is a version of android, so you should be able to change specifics in your project and build scripts to make adjustments as needed. There's no guarantee that it will work out of the box, but nothing a documentation and access to internet won't be able to solve :D