Absolutely. There are two SOAP sample applications provided:
C:\Program Files\Microsoft SQL Server\MSSQL\Reporting Services\Samples\Applications\RSExplorer
C:\Program Files\Microsoft SQL Server\MSSQL\Reporting Services\Samples\Applications\FindRenderSave
Here you'll find a well documented C# example that will render a report via SOAP / Web Services:
http://blogs.msdn.com/bryanke/articles/71491.aspx
I hope this is of some help to you.