"SAML 2.0 Bearer / Access Token Assertion Grant / Flow " - Does Keycloak support this

I am asked, if Keycloaks support "SAML 2.0 Bearer / Access Token Assertion Grant / Flow " and I tried to find an answer an the internet, but I am still unsure what to answer.
For now I only need a yes or no and maybe the Keycloak version, if it is only supported by some versions.