Yes, as long as you have 'space' on the Agent License, you just need to click on Add Agent.
For more details, take a look at the documentation at https://confluence.atlassian.com/display/SERVICEDESK/Managing+agents
UPDATE:
To see a customer on the Agent screen, you first need to edit the user and make sure he's in the JIRA Users Global Permission.
-- Pedro
This appears to not work. The add agent screen won't find any user that is a service desk customer.
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My bad, before you do that, you need to ensure that the Customer belongs to the groups that can access JIRA
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Still no dice. Any user marked in admin / user management as a "SD" user is not able to be found at all. I am unable to add those users to any group in Jira nor can I grant them Jira application access.
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