Yes, you can create a Contact Custom List View to pull this information. You'll want to go to Admin > Custom List Views > Contact List Views. If you already have a list view created, select the list view name. If need to create a new list view, select "Create New List"
Next, you'll select "Add Column" (right side of the pop-up window).
The label for the column is up to you, but it may help to label it as "Created On" so you know exactly what data you're pulling. For "Data Source", you'll want to select "Participant". You'll want to leave "Use Related Matter" as is (it defaults to "not a related matter") unless you want to pull data for a specific matter type. For "Participant Data", you'll want to select "Created Date". Hit save.
Now, you can select "Preview" (right side of the pop-up window).
Your contact list view will now pull the contact record creation date! You can also select the filter option to adjust the Created Date. It will default to include all dates, but you can select a custom date range or select one of the built-in date ranges.
Contact Custom List View or Contact Report
Matter List View or Custom Matter Report