Yes, that’s perfectly possible. The easiest way to do it would be for the US company to hire you as a contractor. You do your work remotely in Canada and invoice the US company for delivered services. The US company sends you a cheque or wires the money to your account.
This way you don’t have to deal with work permits and taxes on the US side, and the US company doesn’t have to deal with Canadian taxes, social security etc.
The only caveat is that while you can visit the US company for business meetings etc., you can’t legally do any actual work for them while in the US as you would need a work permit for that.
I’m a PR in Canada myself and work remotely for a US company this way.