Yes. They would be able to come with you or visit you in Canada.
They will need a valid passport and a valid entrance document (should they require one). To determine which type of entrance document(s) they need, click here.
They can apply for their entrance document (TRV or eTA) at the time when you apply for your study permit, or they can apply separately after you arrive in Canada if they wish to come at a later date.
They may be able to stay with you for the whole duration of your studies, however, please note the length of their allowable stay will be determined by the immigration officer at the port of entry. This date will be written under the stamp in their passport. If need be, they can extend their stay from within Canada.