Sure, just go to the Material Room.  Select Advanced from the tabs
Click on the body part you want to color.
You'll see a window that has a box in it called Poser Surface with a bunch
of different things like Diffuse Color, Specular Color, and so on.
On the row called Diffuse Color look for a little electrical plug looking
icon and click on it.  Then in the pop-up window click on new node.
Scroll down to 2D textures and select Image Map.  This creates
a new node. In that node click on Image source.  Another pop-up
window comes up which allows you to browse to the file that
has your texture.  Then go back to the Pose room, set up your
character's poses and render.