Yes. There are two tricks…
Firstly the vendor Android image uses LS-UART0 for the console rather
than LS-UART1. This requires you to alter the jumpers on that UART board
to ensure you are connected to the right one (by default the UART board
ships with the jumpers linked for LS-UART1).
Secondly the baud rate is HUGE! Make sure your terminal emulator is set
for 921600 baud.