No, apple don’t let you change the keyboard, and they don’t support it in the stock one. So only in special apps like path input (you write in the app then copy paste into a message), or if you jailbreak.
It’s been in the stock android keyboard for ages now, it’d be surprising if it doesn’t turn up as a revolutionary new feature on ios soonish – the ios keyboard is okay, but they haven’t really done much to it compared to how much other os keyboards have changed.
I use messageease, another example of an innovative keyboard that is unavailable on iOs – it is an odd alternative keyboard, is fun, fast and doesn’t do prediction, just individual letters, which is nice if you type odd words regularly, or need to type odd punctuation. No more mispredictions.