Yes it's possible with the help of VPC Endpoint Services (PrivateLink)

1. Create a VPC Endpoint Service with NLB as backend in client VPC. Note: NLB must be internet-facing: false

2. Create a VPC Endpoint in application consumer VPC. Note: security group should allow TCP access to the target port of NLB

3. Optionally, you can enable private DNS for the endpoint, so that consumer vpc apps use that endpoint DNS to reach the application service privately over AWS backbone

   [ Consumer VPC ] [ Application VPC ]

[ App A (EC2/ECS/Lambda) ] --> [ NLB ] --> [ App Service B ]