This is possible, yes. Since CSVs only support text, you will need to use the text version of the emoji.
1) Go to https://emojipedia.org/
2) Search for an emoji.
3) Find the text code that is between two colons.
(it should look like this - :unicorn:)
4) Copy and Paste (or enter) the code into the 'Message' field of the CSV file.
The text code will be converted and displaying as an emoji, once you have pressed the Import button in your Bulk importer and your messages have been imported to your Scheduled/Queued view.