Here's what I have currently:

A room
You find yourself in a small room.
You can see a pipe and a flowerpot.

Here is what I want to display:

A room
You find yourself in a small room.
A pipe is jutting out of the ground.
A small flowerpot is sitting here.

Is there any way for me to have a custom description for each object, instead of having the boring "you can see" text.

You could deactivate the object list in the "Room Descriptions" tab by setting it to 0. Then you can enable the feature "Inroom descriptions". After that you can add a text to all objects which is displayed when the object is visible in a room

Thanks so much!

An alternative approach is to set the pipe and flowerpot to be scenery. Quest will automatically set that to false when the player picks up the item.

Then have the room description check if the scenery flag is set:

You find yourself in a small room. {if pipe.scenery:A pipe is jutting out of the ground. }{if flowerpot.scenery:A small flowerpot is sitting here.}