All SATA devices are required to be hot-swappable by design. However, the OS must support it (and all current operating systems do) but not all SATA "hosts" (controllers) support it - though most do. So as Andrew suggests, you would need to check your motherboard manual to be sure. I would be surprised if an ASUS board did not.
That said, frequent hot-swapping is not recommended, except in "docking" bays where the drive slides in a guide that perfectly aligns the "fixed" connections. Yanking and re-inserting cables by hand risks improper alignment, and those connections are not very robust. And of course, you would not want to hot-swap a boot drive - except in a properly configured RAID setup.