Yes. No animal was intentionally harmed or killed to be turned into oil. This puts it in the same category as foraged deer antlers or cicada wings, or I guess compost where you found a squirrel carcass and added it to the pile.
You could argue that animals are harmed by the process of extracting and burning fossil fuels, and thus it’s not vegan. But this isn’t very convincing to me, since that’s a secondary effect and not necessary to the process of consuming fossil fuels. (Or at least not necessary in the same way that killing chickens is necessary in order to make chicken sandwiches, for example.) And if you start worrying about a big web of consequences of your actions, then it seems like you’re mostly just adding stress to your life without actually making the world a better place.
I mean I think bees are harmed in the production of honey, it’s just that most people don’t care about bee welfare. Commercially they’re bred by crushing the male to extract semen, and any operation above hobby scale will clip the wings of the queen so that the hive can’t escape.
Then you necessarily need to replace their ideal food source with something that is nutritionally much worse for them (basically sugar water), and then hope that they survive on that long enough to make more honey for us to take.