Yes, with docuWeaver, you can generate documents from any Salesforce object, including custom objects. After installing docuWeaver, you can:
Create a dataset for the custom object and upload a DOCX template for the document you want to generate.
Map fields from the custom object to the template using the field tagger.
Generate documents in PDF or DOCX formats.
Store generated documents in external storage platforms like Google Drive, SharePoint, Amazon S3, and Azure.
Email the generated documents directly to the intended recipients.
You can create your own templates—such as agreements, onboarding documents, and more—and generate documents on demand.
For more details, click on the link here.