Can we assign IP address to a container same network as docker engine node

In VMWare , ESXi runs in a public network say 192.168.4.0/32 . We could create VMs also in same network as that of ESXi and can access VMs from external world just like ESXi IP. Is there similar functionality with Docker engine also or we have to always expose services/containers through route mesh ? Is there an official solution available to this yet ?

Thanks and Regards,
Majeti.