Short version: yes. As long as sugar and other junk isn’t added. Generally any intake of coffee has benefits over none; and 3-4 cups a day of coffee seemingly the sweet spot. Coffee intake should be minimal/none if pregnant. More studies are still needed on the topic.

Here’s a meta analysis (review of many studies) from the British Medical Association. I removed some wording to shorten their conclusion. https://www.bmj.com/content/359/bmj.j5024

Coffee consumption was more often associated with benefit than harm for a range of health outcomes […] with summary estimates indicating largest relative risk reduction at intakes of three to four cups a day versus none, including all cause mortality (relative risk 0.83, 95% confidence interval 0.83 to 0.88), cardiovascular mortality (0.81, 0.72 to 0.90), and cardiovascular disease (0.85, 0.80 to 0.90). High versus low consumption was associated with an 18% lower risk of incident cancer (0.82, 0.74 to 0.89). Consumption was also associated with a lower risk of several specific cancers and neurological, metabolic, and liver conditions. Harmful associations were largely nullified by adequate adjustment for smoking, except in pregnancy […] There was also an association between coffee drinking and risk of fracture in women but not in men.