As long as your bed is big enough to hold you and the dog, and as long as no other rightful owner of the bed objects, sure! Dogs love to sleep with their people. One of our dogs loves her crate but if given a choice between crate and human bed (with human in it) she would opt for the bed every time.
Bear in mind that some dogs are “pushers” that will shove you right off the side of the bed and big dogs like our American Bulldog make whatever body part of ours she rests her head on go to sleep but in a pins and needles way. Dogs also snore, fart, and hog the covers, but then so do people.
Once you decide to let her sleep on your bed be prepared to have companionship at night for as long as your dog lives with you, though.