Yes. If they are close friends or lovers, sure. But don't go cuddling someone you just became friends with.
You wrap your arms around her and let her rest her head on your chest.
Nice and soft like a teddy bear.
from behind(well i at least like it like that when my bf does that to me...)
If she starts to lay on your shoulder, pretends to be really tired, or just "leans" in to you.