yes, you just need to use FlexCAN_T4, it has basic examples to get you up and running. Just make sure since you are on the ECU bus that the PTS or KEY is in IGN_ON mode, irregardless if engine is running or not, just to see if you see data flowing on the teensy example. If that works you can then play write your own frames.
Also make sure you are using a transceiver on your Teensy 3.2, without one you can't do CAN.