Yes. You just bring it to the gate. Note you’ll need to collapse stroller through TSA.

To make things more efficient, I’d suggest going to the desk when you arrive at the gate, and asking for a pink tag for the stroller - rather then when you board so it’ll be all prepped and you won’t be holding up the boarding line. These are different than the green tags that are the ones used for gate check bags on regional planes (also: pink tags will work for mainline aircraft also, while typically they don’t gate check for those). They’ll ask for a BP and put your destination info. On there, give you a receipt and then tag the stroller itself. You just collapse at the gate and put by the end of jetbridge before you actually enter the aircraft.

Personally, when I gate checked a stroller for our kids, particularly on mainline aircraft since they didn’t typically have other bags to take down there, I’d always let the greeting FA know as a heads up that I left a stroller by the gate so they could keep an eye out to make sure it was brought down before the door closes. I don’t know how much any given FA actually heeded that, but it made me feel better letting someone else know.