Yes.

Job claimed to have a friend who was in heaven, who interceded between him and God.

The last time anyone on earth saw Elijah, he was being taken up to heaven in a whirlwind.

Isaiah said the king of Babylon had fallen from heaven. He also mentioned that the king had said he would ascend to the heavens, and evidently he succeeded. How else would he have fallen from there?

Jesus claimed that starting during the life of John the Baptist, violent people had been raiding the kingdom of heaven. Jesus also said a criminal would go to paradise the day he died.

Paul claimed to know a man who “was caught up to the third heaven“, or paradise. And Paul also said that God had raised his followers up and seated them in the heavenly realms.

No.

Jesus said no one born of women was greater than John the Baptist, but even the least person in the kingdom of heaven was greater than John the Baptist. Therefore, no one born of women is in the kingdom of heaven. Therefore, no human is in the kingdom of heaven, except possibly Melchizedek, Adam, and Eve.

Jesus also said that no one has ever gone into heaven except the one who came from heaven, meaning himself. So that confirms that those three motherless people didn’t go to heaven, either.

Even David, who did everything God wanted him to do, didn’t go to heaven.