one iphone with dual sim and one

For work, I used an Android device, while privately I used an iPhone. Now, the company has enabled me to use an iPhone, and to avoid carrying two devices, the one provided by the company supports the dual SIM option. I would set up an eSIM for my work number and a nano SIM for my private number. Can I use one Apple ID for one iPhone with two SIM cards and two different numbers? If yes, how can I do it? Thank you.