For the most part, yes. If you have a low-risk pregnancy and a normal labor, you can typically eat and drink anything you want, as long as it's nutritious—doctors recommend snacks with complex carbs and vitamin B so you have plenty of energy.
That said, you might not want to. Labor can bring on some unpleasant side effects, like nausea and vomiting, so if you're going to eat, keep it light.
Hospitals have different policies on eating and drinking after an epidural, so ask what's allowed during your hospital tour or prenatal appointment with your OB.