Of course. An ancient star fused more protons and neutrons together to form higher level elements such as gold and uranium. Then, an ancient supernova spewed these elements a half a lightyear into space, forming a very large accretion disk. Large pieces in this disk come together via gravity, forming planets. But many smaller pieces continue floating forever. Asteroid impacts are actually this gravity process continuing even in the present time.

The point of all that was to say: The Earth and Asteroids were born from the same star and are made up of the exact same stuff. Whatever elements you find on Earth, exist in the Asteroid belt between Mars and Jupiter in large quantities.

I guess I could have made this shorter and just said, "Yes, we have probes that have gotten close enough to observe large quantities of gold on nearby asteroids." Cuz we have.