Yes, you can!
You can create a collection on Goerli (Ethererum) or Mumbai (Polygon) without cost.
Once you are ready to deploy your NFT smart contract, you'll have to pay 0.001 test tokens that are free.
Important: We strongly suggest you create your test collection in Mumbai network since gas fees are lower, and also you can get more test tokens from the faucet Option 1 below. The collection launch process is exactly the same for the Mumbai/Polygon/Goerli/Ethereum networks.
You can get your test tokens on the links below: