100% doable! You just need to reshape your data and identify a duration. If you use the Tableau Excel add-in, select B4:I5. Then select the Reshape Data option.
OK! Once reshaped, you'll need to either add a column to identify separate start & end times or manually add a duration in there. I prefer adding in the End Time. Just personal preference really, but either would work.
Now that the data is ready, we can use the duration calculation & instructions here to build the view: Creating a Gantt Chart with Overlaying Shapes for Small Time Increments | Tableau Software
A sample workbook showing the view with the data you provided (and a revized Excel sheet that shows how to reshape the data) is attached. Good luck!