Yes, you can. This option is only available in the Plan in PlanRight sync mode. To access daily planning click on one specific date on the Schedule page and you will enter a daily planning screen that allows you to plan down to the quarter hour.
The reason you cannot plan by the day in the Plan in WorkFlow Max sync mode is because whilst WFM/XPM recognises dates, it does not have concept of the time of the day and therefore doesn’t allow this functionality.