In the vast majority of cases, yes, it is safe to run VACUUM while data is concurrently being appended or updated to the same table. This is because VACUUM deletes data files no longer referenced by a Delta table's transaction log and does not effect the current snapshot that data is being operated on by other processes.
However, you will want to be careful if you're specifying a shorter-than-default retention period or if you have streams that run very infrequently.