The short answer is ..Yes :p
However .. it doesn't show the text chat channels ..it's mainly for who is online in your discord channel, and which voice channels they're in (like similar widgets for Teamspeak, etc).
Have a look here:
Go into your discord channel, then into server settings and from there to "widget".
Copy the "iframe" pre-made widget text from the above discord widget page, then create a new HTML widget on your GL website and insert that text into it using the "<>" button. If you want to adjust the dimensions of it, you can do just by tweaking them within that code.