Yes!
Children, developmentally challenged ones excluded, inherently trust parents who have given them adequate nurturing. Emotional outbursts, challenges to authority, and disrespectful behavior will happen as they become able to move around. The parent should be patient with, but not reward, uncontrollable emotional outbursts.
Challenges to authority or dangerous activities (e.g., running into traffic) should be met with firm, kind correction (move the child away from danger, say "no" to hitting and hold the hands, etc.). To influence children to perform an action, leverage and bargaining is effective.
It is through this slow, persistent grinding of wills that teach children how to behave. Meanwhile, allowing as much autonomy from the child as is possible / practical allows the child to blossom, while reading and sharing in activities inspires the child and builds trust and affection.
I firmly believe that obedience is earned in some way or another: through fear of retribution, or through the trust and desire to please / aversion to disappoint.
It is apparent later in life which children were raised in the latter manner: they, in general, have good relationships with their parents; authoritarian parents have a harder time developing relationships and getting much-needed support from their adult children.
I didn't mention neglectful parenting, which will often produce worse outcomes than authoritarian parenting: crime, emotional instability, etc.