Should be able to. The very onset of the dialogue upon approaching involves the Goblins asking you to give torturing a go.
So long as you don't do any of the checks to make the Goblins go away, you should have a chance to give it a go, and if successful, will grant that inspiration.
Do note that as a Drow (Or while disguised as one) you do not get the option to torture, you instead send the Goblins away without any ability checks.
