Can horses jump over soldiers?

I am just curious.
Thanks for your help!

Better hope the soldier doesn't have a spear, particularly attacking from the side....horse & elephant charges/attacks could be defeated in the ancient world by flank attacks.

i was on a demo once , a horse riding policeman was beside me , a flag fluttered continously in front of the horse ,
to cut along story short the horse didnt jump one of us it did however throw its rider quite a distance
if it becomes an Olympic sport that horse is a shoe in

Well... if castles can move, then sure, it's not that ridicuous to think that horses can jump over soldiers.
I am just curious.
Thanks for your help!