This is not directly possible, though I'm pretty sure that as the Substance 3D products converge with the rest of the Adobe apps it will be possible. For the time being you have to export the models to a format you can import into Cinema 4D Lite such as OBJ or 3DS and then safe the C4D file which can then be used in AE. Alternatively you can of course consider buying 3D-ish plug-ins like Element 3D, Plexus, Helium, the Trapcode Suite, BCC Simple Object and so on. They all have their limitations due to how AE works, but depending on what you need to do they may be worth considering.
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