Yes, but this is a different piece of grammar from what you're probably thinking. For a habit in the past, the pattern is "used to (verb)". You can only use this form in the past. "I used to wake up early." For something which is familiar (but wasn't familiar at first, ie. you become accustomed to something), the pattern is "be used to (verb)ing". You can use this form in any tense. "I am used to waking up early."

Usually only if you are saying something like "I'm used to cleaning. She is used to cooking. " You wouldn't say "I used to cooking." Or anything like that.

It is possible..example... I used to go fishing. I used to do knitting for a hobby. You must have another verb before the verb with an "ing" ending. It is equally acceptable to say "I used to fish or I used to knit. (Virtually same meaning as the examples above)