The answer to the question in the title is "Yes it can, but one needs to proceed carefully; there are some subtleties."
In the frame of reference in which the charges are at rest ("the charges' frame, C") the charges experience a Coulomb's law repulsion force of magnitude $qE_\text C$ in which $E_\text C$ is the magnitude of the electric field due to one charge in the vicinity of the other, in the charges' frame.
Thus,
$$E_\text C=\frac q{4\pi \epsilon_0 r^2}.$$
In the "lab frame, L", in which the charges are moving, abreast of each other, in parallel paths at speed $v$, the force between them is smaller: it is multiplied by a factor of $\frac{1}{\gamma}$. [This transform of a transverse force can be justified very simply: the charges repel and would acquire, if allowed to do so, transverse momentum, which is a Lorentz invariant. But the time for a given small momentum change to occur is dilated by $\gamma$ in the lab frame compared with the charges' frame.] For these transverse forces, then,
$$F_{\text L}=\frac{\Delta p_{\text L}}{\Delta t_\text L}=\frac{\Delta p_{\text C}}{\gamma\Delta t_\text C}=\frac 1 \gamma F_\text C$$
To summarise the story so far:
Total electromagnetic force on a charge in charges' frame = $qE_\text C$.
Total (repulsive) electromagnetic force on a charge in lab frame = $q\frac 1{\gamma}E_\text C$.
We need to partition this lab-frame force into electric and magnetic parts. Fortunately we know that...
In lab frame, (repulsive) electric force on $q$ = $q(\gamma E_\text C)$.
[We can derive this informally by considering one charge to be surrounded, in its rest frame, by a Gaussian sphere, on which surface we shall place the other charge, let us say on the sphere's equator. Consider lines of latitude a distance $\Delta \lambda$ apart, close to and either side of the equator. In the lab frame $\Delta \lambda$ is contracted to $\frac 1\gamma \Delta \lambda$. But the electric flux, $\Delta \phi$, leaving the Gaussian surface between given lines of latitude (like the total flux leaving the whole surface) won't be changed by observing from a different reference frame. So the electric field strength on the equator will be increased from $E_\text C= \frac {\Delta \phi}{2 \pi r \Delta \lambda\epsilon_0}$) in the charges' frame to $\frac {\Delta \phi}{2 \pi r (\Delta \lambda/\gamma)\epsilon_0}=\gamma E_\text C$ in the lab frame.]
The magnetic force between the charges in the lab frame must be the difference between the total electromagnetic force and the electric field force, so...
$$\text{magnetic force}\ =\ q\tfrac 1{\gamma}E_\text C - q\gamma E_\text C\ =-q\gamma E_\text C \tfrac{v^2}{c^2}\ =-\frac{q^2}{4\pi\epsilon_0 r^2} \gamma\tfrac{v^2}{c^2}$$
The minus signifies attraction. Using $c^2=\frac 1 {\mu_0 \epsilon_0}$ we present the force as
$$\text{magnetic force} =-q\left(\gamma \frac{\mu_0 q v}{4\pi r^2}\right)v.$$
This is of the form of a magnetic Lorentz force on one of the charges, the content of the big bracket being the magnitude, $B$, of the magnetic flux density due to the other charge. Apart from the factor of $\gamma$, this is the value of $B$ given by the Biot-Savart rule, using $qv$ for the current element $I\delta l$. Note that the Biot-Savart treatment of a non-steady current is only a low speed approximation: the $\gamma$ arising from our relativistic derivation is correct.
Even though, on the face of it, the two point charges moving on parallel paths is a simpler set-up than two parallel current-carrying wires, its treatment using just Coulomb/Gauss and elementary concepts of SR (time dilation, length contraction and charge invariance) has proved to be trickier for the point charges than it is for the wires. In particular we took account of the (repulsive) electric field force between the charges being greater in the lab frame than in the charges' frame.