The simple answer is; no, unfortunately not. At least, not for free.
This comes down to music licensing and copyright. Music on SoundCloud is owned by a specific artist/s or label. The copyright and rights belong to the artist or label, meaning you will need to license the track before you use it in videos.
To use SoundCloud music on YouTube, you need to talk with the artist and then make sure they do control all the copyrights, then agree a price. Generally, this is a process that involves lots of back and forth over email, which can be rather slow and painful.
However, any creator can now make this process simple and easy by just heading to Synchedin and purchasing a license. This allows creators to download as much music as they want and then use them in as many videos as they want across all platforms (not just YouTube).