[kamocat]

Yes, but you have to make a splitter for it.
Make sure to not wire the two 3v power supplies together, but connecting just their - terminal should be fine.

The way I was planning on doing it was taking a prototype board (5x3) and vertical 0.1" headers, and soldering across. That way, I could just take the encoder in its current configuration, plug it into the board, and have two adapter cables, one for each Jaguar.
It's also possible to have a board that plugs directly into one of the Jaguars, but that's a little harder to make.