Rest API and Custom Entities

I have a client that has created a custom entity as a child entity.  This article, https://www.sagecity.com/sage-global-solutions/sage-crm/b/sage-crm-hints-tips-and-tricks/posts/sage-crm-2019-r2-the-relationship-between-the-rest-api-and-other-apis, shows that the Rest API is able to work with both System and Custom Entities.  The client has developed a web store and they wish to have information passed to the CRM child entity.  My question is can we utilize the Rest API to do this?

Terry