Yes, just mark two or more of yours <activity>asLAUNCHER inside your manifest. In addition, you need to set an attribute android:taskAffinityfor both of your Launcher-Activities actions, which determine the exact package and the action to be run.
<activity android:label="MyApp" android:name=".MyApp" android:taskAffinity="com.example.MainActivity">
<intent-filter>
<action android:name=".MyApp"/>
<action android:name="android.intent.action.MAIN"/>
<category android:name="android.intent.category.LAUNCHER"/>
</intent-filter>
</activity>
<activity android:label="Settings" android:name=".Settings" android:taskAffinity="com.example.SettingsActivity" >
<intent-filter>
<action android:name=".Settings"/>
<action android:name="android.intent.action.MAIN"/>
<category android:name="android.intent.category.LAUNCHER"/>
</intent-filter>
</activity>
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