Include Javascript as Plain (No file inclusion)

Is there a way to append Javascript to the body in the script tag without using a file?
Normally you would do it with

wp_enqueue_script('name', 'path/to/js/file');

Is there a way to include js in the script tag directly?
Like:

<script>My awesome code </script>

Yes, you can directly insert what you want in the header or the footer using the action wp_head or wp_footer

add_action('wp_head', 'custom_script');

function custom_script(){
      ?>
      <script>My awesome code </script>
      <?php

}

You only have to put this in functions.php of your child theme