As of today, you can!!!

AWS Lambda has recently launched Lambda Remote Debugging in VS Code. This allows you to debug live function and put break points in codes on local machine. It also supports automatic code downloading from cloud to your local machine and sync the code change back to the cloud as well.

Check out for information here:

• AWS Lambda Remote Debugging | Serverless Office Hours - YouTube

• Remotely debug Lambda functions with Visual Studio Code

• Simplify serverless development with console to IDE and remote debugging for AWS Lambda