If you're unable to get the fluid to drain from your ears on your own at home then yes a doctor can drain the fluid out of your ears by using A tiny tube that pierces the eardrum which then allows the trapped fluid in your ears.
The doctor may also do a test of the fluid in your ears that is drained out to see if it's an infected fluid.
Usually fluid in your ears will go away on it's own within a week or two but if not then you should see a doctor about it.