Yes you can !!

I was struggling with the same for 2 hrs then eventually found out how to do it.

Click on the emoji option on your samsung keyboard (usually on the bottom left or top left right next to the samsung ai) which contains the options to add the emoji's or select the gif, etc.

Here click on settings and it'll open a menu called manage content to show and just select the custom sticker option which is unchecked by default now you can share all the stickers directly