Yeah.. sorta..
First, make sure the the glass is dirty from the inside, not just pitted from a few years of driving.
If they are pitted on the outside, you need to wet sand the plastic lenses- like they do paint at body shops- then get some plastic polish- I think Mequires has a couple good ones. I have more detail on this from when I did a friends if you need it.
If they really are dirty from the inside:
The lenses (including the turn signal portion) are actually a separate piece from the lights behind them.
First, you have to remove the entire assembly from the car. It's easy. There are four (10mm?) bolts that hold on each assembly. You will need an extension to get to the lower most ones. Once they're removed and the light bulbs are twisted out, the entire assembly is free. I'ts sorta hard to get to the turn signal bulb, but if you pivot the freed assembly out towards the outside of the car, you can get to it much easier- remember this when reassembling and connect it first.
Once freed, you will see four clips two top and two bottom. There is also one larger near the signal. When apart it looks like this:
After apart, carfully remove the glass lenses- They're held in by easily breakable plastic pins.
Get your favorite child to use his or her tiny hands inside the new holes and wash the inside of daddy's lenses in trade for some ice cream.
Clean inside of lenses. I caution you, though, that it is more likely they are pitted from the outside and you just need to wetsand and then polish the lenses. They will end up crystal clear if that is the problem.