Yes. you can.:) There are two categories of verbs or adjectives to show respect to old/elder persons, superiors or stuff like that. Firstly, All verbs or adjectives can be converted into an honorific form putting '시다' at the end of verbs or adjectives. This can be one way to make a phrase an honorific form. On the other hand, some verbs, originally are honorific forms themselves. '드리다' is one of them. Here are some examples, 1) Regular honorific forms '가다' - '가시다' '받다' - '받으시다' '작다' - '작으시다' 2)Special honorific forms '있다(it-da)' - '계시다(gye-si-da)' (to exist) '마시다(ma-si-da)' - '드시다(deu-si-da)'(to drink) '먹다(meok-da)' - '드시다(deu-si-da)'(to eat) '자다(ja-da)' - '주무시다(ju-mu-si-da)'(to sleep) so that, your sentence has to be '할머니께 아침을 만들어 드렸어요.' (you served breakfast to your granny) or '할머니께서 아침을 만들어 주셨어요.' (your granny served breakfast to you) whereas, '할머니께 아침을 만들어 주셨어요' is not correct. when you serve meals to somebody you must use '드리다' not '주시다', even if they both come from the same word '주다'.

할머니께 아침을 만들어 드렸어요 is correct.(if you use it for that I made breakfast for my grand mother.) if you wanna say that my grand mother made me breakfast, you can say that 할머니께서 아침을 만들어 주셨어요. not 할머니께 아침을 만들어 주셨어요. I know you wonder that why I don't use 시다 to 드리다. because 드리다 already contain honorific meaning.