Yes, you can. Here is what you need to do:
G Cloud app supports Android 5.0 or higher.
- Open your G Cloud app.
- Tap the menu icon at the upper-left corner.
- Tap the Restore option.
- Start browsing the content of the backup → Select what to restore by long-press on it → Tap the Restore button.
You can press the Home button and G Cloud will resume restoring in the background.