Yes with Hidtovpad
https://gbatemp.net/threads/hid-to-vpad.424127/
360 controller requires the official microsoft PC adapter for wireless. And Switch controller may/may not work. Sometimes you have to make your own config to get a controller to work.
I forgot to mention I have a mayflash magic ns adapter that makes my 360 controller work wirelessly with the pc adapter, can't remember if that's required or not. They're like $25 on Amazon.
There's also a Network client to allow you to use controllers while they're connected to PC on Wii U.