Again: Yes, but it will be a lot of work, because there are no libraries to make it as "simple" as it would be in, say, the .Net Framework. (In .Net, a
lot of code goes into making web services look simple. The iPhone SDK team decided not to include similar code on the iPhone, even though it had already been created for Mac OS X; if I had to guess, I'd say it's either too slow or too large for the device.)
You will find that interfacing with this kind of web service is not easy, because you will have to create and interpret all the XML in your own code, rather than using the kind of built-in libraries you are used to. If at all possible, I recommend redesigning the web service or using a server to translate between SOAP and a simpler protocol.
However, if you have to use this web service in this way, it
is possible. You will have to read the SOAP and WSDL standards and implement enough of them to call your web service. There is no sample code available for using SOAP on the iPhone, because this is very difficult. What you will be able to find is samples of sending HTTP requests which return XML and then parsing that XML. The SeismicXML sample is probably the best sample for you to study.
Good luck.