Yes they can. Iron doors are very hard but not hard enough.....
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Iron doors in Minecraft have to be open with redstone mechanics. So to open the door you would have to connect a lever, a pressure plate, or button to the door.
Wooden doors can be placed normally, they are opened and closed by right clicking on them. Iron doors can only be opened or closed by buttons or levers adjacent to them.
To open an iron door you can use a pressure plate lever button (reccamended) red stone torch/powder detecto rail
With pistons. watch a you tube tutorial on piston doors
you will need an Iron pick axe, stone or wooden pick axes do not work.