Can roly-poly be used in a sentence?

Yes, and it would be normally.

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The question's category by-line suggests "roly-poly" is an American colloquialism for the woodlouse, in which case, a sentence like, "There is a roly-poly ambling across the floor".

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In the UK, roly-poly is a somewhat archaic adjective for being overweight as a person or animal, and also the name of a pudding. So, perhaps, "You'll end up roly-poly if you eat too much roly-poly pudding!"