Yes, if you have the HubSpot Sales extension installed, you can use the Log in CRM feature for Outlook 365 on Windows desktop to automatically log emails in the HubSpot CRM. To learn more about this feature and how to set it up, read this article.
Without the HubSpot Sales extension installed, you can also manually log emails from Outlook 365 in the HubSpot CRM using your HubSpot Sales BCC address. This method is also helpful if you're using Outlook 365 on Web or Mac. To find your BCC address, navigate to Settings in your HubSpot Sales account and click on Email Integrations in the left sidebar menu. Toggle to the HubSpot Extension tab and copy the email address in the BCC email address section. BCC this address when sending your email from Outlook 365 to log the email in the CRM. Read more on this here.
You can also manually log replies to your emails in the CRM by forwarding them to [YOURHUBID]@forward.hubspot.com. For more information on this functionality, check out this article.