Yes. Read Sections 15 and 18 of the limma user's guide.
Edit: There seems to be some confusion in the wording of your question, now that I look at it more closely. When we talk about RNA-seq data for DE analyses, we are usually referring to a matrix of read counts for genes (rows) and samples (columns). If you have this, then you can use
voom as described in the limma user's guide. However, It is not correct to describe a text file of log-fold changes, p-values, etc. as "RNA-seq data". Those values represent the results of an existing DE analysis - probably DESeq2, judging by the column names - and you can't go from the analysis results back to the raw data. If you want to use
voom, get the count matrix.