This depends on what you mean by "with". As you say, you can't sit down, bang out some ordinary Haskell code, and expect GHC to give you an executable that will do real-time as well as you can in C.

That said, it's perfectly possible to write a DSL that handles scheduling, uses GHC's type machinery to track memory use and execution time, and have GHC generate a program that will generate C code that meets hard real-time guarantees. In fact, someone wrote it, it's available on hackage (https://hackage.haskell.org/package/atom) and my understanding is that it's used in production for control software in the auto industry.