Can i use rest channel or custom channel to post response actions after some time of my action

Hi. I have used Rasa 0.11 version . I integrated my chatbot with Chatroom - React ui and embedded that in react application. Now i saw the documentation with Rest channel and custom channel. So its like chatbot exposing an endpoint to which an application can post messages. So a new end point is exposed so that we can send messages? My use case is through action , i am triggering a service(example inserting some values to db through some prepared statements,triggering rpa,etc) which might take some time to respond.So if i expose a rest end point from rasa chat, application can send the response by calling that rest url. Will it work?I mean for async call, can i use rest channel or custom channel.Also some push notifications can be sent to the chatbot?