Yes. The following cleaning information can be found on the eTap user manual:
Use a damp cloth to wipe off any dirt and debris. Clean the components with soap and water only. Rinse thoroughly with water and allow the parts to dry, then lubricate the chain.
Do not use or clean your electrical shifters without connector wires or seal plugs installed. Moisture will damage the electronic components. Remove the SRAM derailleur batteries and install the derailleur battery blocks before cleaning.
Do not clean the components with a power washer. Do not use acidic or grease-dissolving agents on your electrical components. Do not soak or store your electrical components in any cleaning product or liquid. Chemical cleaners and solvents can damage plastic components.