You are, but it can be touchy.
It is rarer in US English than it is in British English and I would more likely hear a parent talk about "my Jenny" when they're talking about their child. I may also use "our" (not "my," but "our") if I'm talking about a person in a group (company, school, club) that we all belong to. But as Kate says, using it can have a nasty twinge of ownership. And you don't want to do that.