Yes! Launch the CBS app on your Apple TV, and then:

Apple TV 3rd generation or earlier
  1. From the homescreen, select any subscriber-only show. 
  2. You'll be presented with a Sign Up/Sign In screen. Select "Purchased through iTunes? Restore." at the bottom of the screen.
Apple TV 4th generation & 4K:
  1. From the homescreen, select "Settings" and "Sign In." 
  2. Select "iTunes Subscriber? Restore."
You're now ready to watch CBS All Access on your Apple TV!