Yes. once you have created an episode in the dashboard, you can send the invite link to your guests. Episodes are not scheduled and do not expire. Just let your guests know when to meet you in the room. Then when it is time to interview, you can all head to that same link and connect on a call to record no matter how long in advance it was created.
You can also send the link below to your guests before the recording. It explains simply what the guest needs to do as most guests don't actually have Zencastr themselves.