Sure.
TCP is just data channel. It is totally agnostic to what kind of data is transferred to it. HTML pages, programs, video, audio - whatever. It is just a data channel within TCP protocol.
However, "streaming" usually means "near to real time". If some frames of video or audio did not arrived during few seconds - they better be skipped and forgotten and newer music or video be played. You would not want your Skype conversation suddenly stuck for a minute and then playback all that minute to you, just because of few seconds network jam. You'd better loose a word or two and then either recover by context or ask the correspondent to repeat. Thus TCP with built-in retransmissions and usually not very large buffers is not a perfect choice for multimedia streaming. Usually UDP + application-implemented integrity control is better choice for it.