Yup! There are a couple of different Add-ons that will do this. One of them, called Wizy Mail Merge & Doc Merge with Attachments, would work especially well for this.
To set it up, you will need to generate a Sheet from your Form, then add and access the Wizy add-on. From there, you just tell it what you want to attach, the subject line and name of the sender(s), and then choose to have it sent automatically upon Form submission. Here's how it looks: