Yes; such an act is often called an act of spiritual communion. Such an act can also be made on other occasions, such as a prayer throughout the day.
Although the wording of such a prayer can take many forms, one common form (which does use language similar to “entering their heart”) is by St. Alphonsus Liguori. The EWTN site has English versions both in
more “traditional” language and in
more “modern” language.