Yes.
As other people have answered, you can use Where, but it will be extremely inefficient for large sets.
If performance is a concern, you can call Join:
var results = original.Join(idsToFind, o => o.Id, id => id, (o, id) => o);
If idsToFind can contain duplicates, you’ll need to either call Distinct() on the IDs or on the results or replace Join with GroupJoin (The parameters to GroupJoin would be the same).