Welcome to the forum. Congratulations, the semen analysis
reports show positive results. Yes, you can plan for a baby. You have not mentioned since how long you are on medication. The therapy to increase sperm count
usually is for 3 continuous months, a one month gap and again therapy for 3 months if need be. Do consult your treating doctor before you stop taking medications. You may have to continue taking medications.
Since you are planning for a baby. Both of you should take fresh home made nutritious substantial food that should include dairy products, nuts, legumes, cereals, fresh fruits , green veggies, fiber rich food and non-vegetarian food if you are not a vegetarian.
Follow the treating doctor's advice to localize the ovulation period so that sexual intercourse can take place in the right time for positive results. Do not get anxious, try to relax and get stress
-free. Have a good day, take care.