Yes, use Command Brand 3M hooks as suggested. I just bought 1 today for hanging my towel. RM10.80 17004 Jumbo Hook with Adhesive Strips (general purpose). Can hold up to 3.4kg. You can easily remove these hooks without damaging the walls / doors, etc. They have clear instructions.
You probably don't need something that strong (<1kg). They are many other varieties with less strength.
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