As
@manchester1 said, yes, generally, you can use a tube in a tubeless tire. Assuming that you're talking about a 6"x3" wheel (the only size Astro available) and a 145/70-6 tire (the only 6" A021 available), that's an awfully wide tire for a 3" wide wheel. A 145/70-6 tire is made to fit a 6"x4.5" wheel (50% wider), 145 is the section width in mm which equals 5.7". Mounting a 145/70-6 tire on a 3" wide wheel is going to cause a lot of pucker, meaning that the beads are going to be drawn in much closer together than they should be. This would probably cause the tire to be less stable than it would be on a wider wheel, it would probably tend to flop left or right under lateral load. Overinflating the tire may make it more stable but isn't an ideal solution, a better solution would be to make a 1.5" spacer to fit between the Astro wheel halves or to use a different 4.5" wide wheel (or use a narrower tire on the 6x3 Astro). Being that the Astro is a two-piece wheel, you should be able to get the 145/70-6 tire mounted without much difficulty but you're going to have some serious pucker.
145/70-6 Tire
145 is section width in millimeters (equals 5.7 inches)
70 is aspect ratio in percentage (section height is equal to 70% of section width)
6 is wheel diameter in inches at bead
145x.70=101.5 (section height) / 101.5x2=203 / 203mm=7.99" / 7.99+6=13.99" OD (+/-)
https://azusaparts.com/product-category/wheels/aluminum-wheels/6-astro-wheels/
https://www.sunf.com/collections/atv-tires/products/a021?variant=32203626053743