No, generally not. If you entered the United States under the Visa Waiver Program, you are not permitted to change status while in the United States, so an ESTA visa change is generally not allowed.
In addition, admission under ESTA is for short visits of up to 90 days, and extension of stay is also not permitted.
If your travel purpose changes or you need a longer stay, you generally need to leave the United States and apply separately for the appropriate U.S. visa.
For smoother travel planning, please apply for ESTA before your departure.