Yes you can for most fish.
Some ideas- most fish will swim away from the color red for whatever reason. So you could train them to go through obstacles by following them with a red thing.
Or, I taught fish to expect food when they see a bright light in their tank. I started with a large tank light and got it down to a pen light, giving them food when they came underneath the light. The minute they saw that light they started fighting over that spot- regardless of whether I put food in the tank that time or not.
I also know a guy who raises betta fish and taught them to follow his finger, including jumping out of the water. I know he used food motivation originally, but not exactly what he did.
Most animals can be taught something, including insects. I took an interesting class where we had to teach animals something and see what they learned. Cockroaches, mice, fish, etc.