Yes. As signature administrator, you can always transfer the signature of a document to another person at any time during the process.
For example, if you filled out the wrong data for one of the signatories, when the signature is pending, you can always delegate it to the correct signatory. This is one of multiple use cases.
To resend the document, access its details and click Resend document in the Actions tab. Fill out the name, email address and the rest of the information for the new signatory, and click Continue. The document will be forwarded to the new signatory, who will receive a notification indicating the request to sign the document.