Yes with dwarf cichlids, or baby cichlids only. No to the big, as of course they will be lunch.
You may get away with keeping a crayfish or freshwater lobster with the bigger guys but thats risky.
I'm sure you could get away with keeping dwarf cichlids with larger shrimp like bamboo's, but I suspect that the shrimp would need to be almost as big as the fish to be fairly certain of it's own safety.