yes, in the front go ahead and use the frame just behind the front wheels. The rear is a pain to support from the frame because the frame curves up over the rear axle so theres not much room to place a jack stand. just take care to not touch the brake lines/sensor wires that run along the axle. the tops of my jack stands are U shaped and makes this easier.
these will tear up your floor if you arent careful. on ashpalt i usually put down a sheet of plywood under them to prevent them from digging in