Provided it is quiet enough, I can, and I have been able to all my life. I can remember lying in the dark when I was small, afraid of the thumping noises that I could hear and apparently no-one else could. I didn't realise what it was until relatively few years ago.
I can still hear my heart beating whenever I go to bed, but now I know what it is I find it more reassuring than otherwise. Sometimes I can hear it beating faster than it should, especially if I am infected, as now, or have had too much alcohol, which seemed to be the case most of the time when we were on holiday.