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Sure, have a look at CMSIS-DAP, FreeDAP, Adafruit DAP, and Blackmagic Probe. SWD will let you access the target's memory space (e.g. RAM, registers, etc). To program the device, you will need to interact with the flash memory controller and this aspect is microcontroller-specific. You can tickle the flash controller registers manually (easier but slower) or you can use specialized RAM-code to make the microcontroller program itself (more difficult but faster).
These are few that I found when researched the matter: https://github.com/xjtuecho/CMSIS-DAP https://github.com/mick909/stm32-dap https://github.com/devanlai/dap42