Generally, yes. You could do some 3D printing and see how it looks, feels, etc. and then look for a manufacturer for injection molding.
Have you ever seen Crafsman Steady Craftin on YouTube? Great channel and he goes over his own journey in toy creation and explores various avenues. If you’re into tinkering/diy then it may be up your alley or I could be way off because I’m not sure what you’re trying to create 
His channel:
A couple videos that I thought of while reading your post:
3D printed Injection Mold:
Tabletop Injection Molder:
If you browse through his videos you’ll see quite a few different ways of injection molding as well. And lots of different ways to go about making simple toys and figures.
Let me know if I can help in any way or point you in another direction