No, you cannot. Not for decisions he or she makes as a judge ruling on issues related to your case pending before the court. In short, judges have immunity, except, in some instances, judges in the probate courts. But, think of if from a practical standpoint; if individuals sued judges for all decisions they didn't like, nothing would ever get done.
Ask your lawyer to appeal.
Suing the judge is not the answer.
If the decision was rendered by an associate judge, you can appeal within 30 days to the elected judge. But the elected judges have a track record of affirming the associate judges. The Texas Family Code essentially orders judges to try to hold families together. The courts are required to render orders that pose the least possible restrictions on a parent. You may not like this and, in your case, you probably shouldn't like it. But a one-hour, supervised visit is about as restrictive as you can get.
Not only should you appeal if you are unhappy with the decision. If you are unhappy with the law, as you have every right to be, you should go to Austin and sit with your legislative contingent and explain how this is affecting your family and your child.