Yes you can connect it to the sensor shield it has Rx Tx pins, but just you need to confirm one thing that some boards have the reverse connections for Rx and TX pins. there might be the least possibility that we have to connect Rx to Rx and Tx to Tx pin. but anyways it is another way around.
and one more thing if you are connecting the sensors to this boards, Do confirm that these floating pins have internal pull ups or not. if not then you have to use external pullups to treat the sensor as input