I believe so, here, https://eservices.ica.gov.sg/sgarrivalcard/
But in case you don't it appears not the end of the world, from FAQ's;
"Travellers are strongly encouraged to submit their SG Arrival Card before arriving in Singapore, as those who have not done so will be required to submit on arrival before they can proceed for immigration clearance. This will delay their immigration clearance unnecessarily."