Yes, you can transfer ownership of your S Corporation so that you own it as trustee of your trust. This involves transferring shares of the corporation. See instructions under Funding Your Trust.
While you are alive, holding the S Corp shares as trustee of your trust is not a problem because your revocable trust is a grantor trust. However, at your death, your trust no longer qualifies as a "grantor trust." At that point, the shares can be held by the trust for two years without jeopardizing the S Corporation status.
There are special rules for non US citizens. If you or your spouse are non-citizens, please contact your tax professional.