Can I see all the charges that have been made by my customers for their subscriptions?

Sure, under the Invoices tab in Billing  you can see all of the subscription invoices created for all of your customers. It can be filtered by date or your can search by customer, etc.

If you want to see the detail of the payments for a single invoice, you can double click on the invoice, and click the authorization tab to see the approval and decline reason codes for that invoice.

You can also go to the Invoices folder tab in the Customer view to see the invoices for that customer. This view will have all of the invoices for that customer, not just subscription invoices. You can also select the Unpaid folder tab to see invoices that are unpaid for a customer, which would also contain regular and subscription invoices that have not be paid.