No, you cannot directly transfer RESP funds to a TFSA.
You can withdraw RESP contributions and contribute them to your TFSA if you have available TFSA contribution room.
Remember: The RESP AIP portion will be taxed first at your marginal rate plus a 20% penalty tax (or 12% for Quebec residents). The after-tax amount can be contributed to your TFSA.
While TFSAs are great for tax-free growth, the tax rules only allow RESP income to be transferred to an RRSP or an Registered Disability Savings Plan (RDSP), assuming you meet the eligibility requirements.