Carbon Copy Cloner version 3.4.7 which is still free will do the job. It is available here. You have to pay for the latest version but this version runs fine on Yosemite. It will probably tell you it is not qualified but it works.
Yes, you can: select the drive you want to clone in the list on the left, go to the "Restore" tab and drag the drive you want to clone it to into the "Destination" field. Click "Restore" and wait.
Carbon Copy Cloner version 3.4.7 which is still free will do the job. It is available here. You have to pay for the latest version but this version runs fine on Yosemite. It will probably tell you it is not qualified but it works.