No. DVSA runs the theory test in English and Welsh only. You can ask for the questions to be read to you through headphones, but the voiceover is available in those two languages — not Punjabi. Foreign-language voiceovers and on-the-day interpreters were withdrawn in 2014 and have not returned.
If Punjabi is your first language, that does not stop you passing. It changes what you should be doing to prepare.
Three forms of support are available, and none of them is a translation:
Pakka Pass was built for exactly this gap. Every question appears in Gurmukhi, in romanised Punjabi for people who speak Punjabi but do not read the script, and in English.
Learn more about Pakka Pass → | View Pakka Pass on App Store