Yes, you can add different types of taxes to an invoice. You just have to select and add a Tax Component.
1. Go to Accounts.
2. Select Tax Setup.
3. Click Add New.
4. Enter Tax Name.
5. Add the taxes as Tax Components.
6. Enter Percentage.
7. Click Save.
When you create a new invoice, select the tax and it will be able to apply the different taxes in one single row.
For more details, please check out Tax Setup.