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Yes. See here for more information. axes=False for 2d and frame=False for 3d. So for a 2d plot try this, for example:

plot(sin(x), (x, 0, 2*pi),axes=False)

For 3d we use frame. Try this

x, y = var('x,y')
plot3d(x^2 + y^2, (x,-2,2), (y,-2,2),frame=False)