Yes a bad idle air control valve cans sometimes cause a misfire if the misfire is not being caused by other things such as bad spark plug wires, bad ignition coils, bad spark plugs, bad intake manifold gasket etc.
However the most common problem associated with a bad idle air control valve or an IAC is a idle speed that is irregular.
If your idle speed is not staying regular and seems to jump around then the idle air control valve could be bad or sticking.
The computer gets a message from the idle air control valve to keep the idle speed at a constant speed and if the idle speed doesn't stay constant the Idle Air Control Valve could be bad.
You can have a mechanic hook up a computer testing equipment to the vehicle to find out what is causing the misfire.
Or if your check engine light is on you should have Autozone or another parts store put their check engine light tester on the vehicle to pull up codes to see what is exactly causing the engine misfire.