Your question is "can" he be impeached? Sure. The House has the power to impeach and the Senate has the power to try the impeachment based on the standard of "high crimes and misdemeanors."
But how likely is that, given that Congress passed the legislation which the president signed? I doubt that Congress is going to impeach a president for signing a bill they just sent him.
How about a later Congress impeaching him? Again, it's possible, but unlikely. Impeachments of presidents are more likely to happen when the president acts independently of Congress, not when he acts in tandem with them.