Can anyone who has the ability to speak learn to be a decent singer?

I know that singing is a skill that requires highly developed muscle reflexes, laryngeal action, breath support, resonance adjustment, as well as articulatory movement and anyone can enhance their voice further through the careful and systematic practice of both songs and vocal exercises.
However, to me singing seems to be different than learning to play an instrument such as the guitar or drums because I think with enough practice anyone can learn to be a decent guitarist or drummer.

Of course some people are born with superior musical talents or great rhythm/ coordination, but I think some other people have no hope of ever being a good singer.

How much of this is hereditary?

Can you sing?