Can Product vision be co-created along with stake holders?

Yes, that would be ideal - a group is likely to provide better framing of the product vision / mission than an individual. It's a challenge to come-up with a vision statement for the product & as a group who are closely involved in the product, as stakeholders - investors, founders, sample set of consumers. Vision is essential something that the product should achieve & something that should make sense to the end users, in this regard framing this along with stakeholders seem to be good approach.

-Bhaskara