Yes: Consider terrestrial creatures with significantly more mass than humans as an example.
This creates a situation functionally similar to a 'normal-ish' human on a super-earth. A body with enormous mass and internal pressure. For example, look at the physiology of a giraffe. In order to contain the massive blood pressure in their bodies, their skin must be incredibly thick and tight, growing thicker and tighter the closer to their feet/hooves you get, because the pressure the further down you go increases non-linearly. This is the same reason water towers progressively get more rings the closer to the base of the container you get.
The other thing a giraffe needs is extremely thick arteries and veins, as well as a huge heart to deal with having to pump all that blood at high pressure around the body. Plus huge thick bones capable of taking the strain that, like the skin, get tougher the lower you go on the animal.
If you give these humanoids features roughly similar to this, it should be possible for them to exist.
Interestingly, these similar properties would be needed for giants to exist on earth.