Yes, using the trusted networks setting in the AnyConnect profile manager. From the ASA:
Configuration --> Remoate Access VPN --> Network (Client Access) --> AnyConnect Client Profile
Part 2 of the preferences: "Automatic VPN Policy", set as
Trusted Network Policy Disconnect
Untrusted Network Policy Connect
Trusted DNS Domains "yourdomain.com"
Trusted DNS Servers your.dns.server.ip
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