Yes, there are a number of way of doing it. The most straightforward way is to share the file as anyone with the link can view.
Add the file id to the following direct download link:: https://drive.google.com/uc?export=download&id=YOUR FILE ID
You can then create a bit ly link to make it a little more presentable
In the presentation settings of the form, you can then add a message and the download link.

There are obvious drawbacks to this such as the ability of the person submitting the form to share the link to other people.
If you wanted to prevent this from happening you can write a script to add read only permissions for the person submitting the form
to be able to download the file.