If you’re using an authenticator app for 2FA, you can setup multiple devices to generate codes. If you’re using SMS, you’ll only be able to register one phone number.
Yes, you can. When you set up two-factor authentication:
Scan the QR code with an authenticator app on every device you want to use (e.g. your mobile and tablet).
Check all your devices generate the same 6-digit code.
Use the 6-digit code to complete the set up of two-step authentication and you're good to go.
Note: 2FA is also known as two-step verification (2SV) or multi-factor authentication (MFA).