As long as they are given, not sold, then yes. Confirmed by:
http://www.direct.gov.uk/MoneyTaxAndBenefits/T axes/TaxOnSavingsAndInvestments/TaxOnSavingsAn dInvestmentsArticles/fs/en?CONTENT_ID=10013514 &chk=Tac6CP (sorry it's so long.)
As to how, if you have share certificates then just fill in a stock transfer form (with some shares this is on the back of the form, with others you'll need to ask for one) and send it with the certificate to the registrar for the company. No charge.
If your shares are held by a nominee (eg a stockbroker) contact the nominee - he may or may not charge for doing it but there will be no stamp duty