Yes he can, although he'll never be able to wear Jedi robes. You can settle for armor instead, but then he won't be able to use his force powers (with a few exceptions). I usually still give him something to wear, because gardening pants look kind of silly on a Jedi.
You'll have to keep gaining influence with him and eventually he'll tell something about himself.
A very good guide on everything that is Kotor 2->
æon's - star wars - knights of the old republic ii - the sith lords faq
You'll find out where to get Bao-Dur's precious influence points in that guide.
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