Hi Mike: No. DoorDash works as a cashless experience. You can pay for DoorDash orders using a linked credit or debit card. The only part of the process for which you can use cash is tipping (though you can also tip using the DoorDash app if you prefer).
What food delivery app takes cash?
GrubHub
Do DoorDash drivers prefer cash?
If you can, however, most Dashers will prefer to be tipped in cash. A cash tip will increase the total payout the driver receives for your order while also putting some money in your driver's pocket right away.