Yes, and this is standard policy at most correctional facilities across the country. A brief hug and a light kiss are permitted when your inmate enters the visiting room at the start of the visit and again when the visit ends. That physical greeting and goodbye is considered a normal part of the visitation experience and corrections staff expect it.
The key word is brief. A light kiss and a gentle hug that lasts a few seconds falls well within what is acceptable and will not draw any attention from the officers supervising the room. What gets a reaction from staff is anything that pushes past that boundary into prolonged physical contact, which is where the privilege starts to get abused and guards step in.
Visiting room officers are generally not looking to make the experience difficult for families who are conducting themselves appropriately. They are watching for security concerns and rule violations, not policing a respectful greeting between people who have not seen each other. As long as contact stays within the understood boundaries, most staff will not interfere.
The practical advice is to keep it natural and not overthink it. Walk in, greet your person warmly, sit down, and make the most of the time you have together. When the visit ends, say goodbye the same way. Treat the privilege with the respect it deserves and it stays available to you every visit.