Yes, you can use soap on cast iron. Modern dish soaps are safe for cast iron and won't damage seasoning. The old "no soap" rule comes from when soaps contained lye, which stripped seasoning. Today's soaps are gentle degreasers that help remove sticky residue without harming your pan. Use soap when needed for greasy dishes, then dry and oil as usual.
Certain cast iron dos and don'ts get handed down from cook to cook, much like heirloom skillets themselves. DO: fry eggs, bake cornbread, and roast vegetables! The don’t side is a bit more complicated. Definitely don’t leave your skillet wet or clean it in the dishwasher. But rules like “don’t cook with tomatoes” have exceptions, and “don’t use soap!” is a cast iron myth we’re ready to retire altogether.