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This paper discusses the controllability problem of Boolean networks with inputs (control nodes) and outputs (controlled nodes). An algorithm for testing controllability is in general NP-hard, and the existing polynomial-time algorithm is limited to a class of tree-structure networks. In this paper, based on a sufficient condition for controllability, a polynomial-time algorithm is proposed. The proposed algorithm is applicable to a wider class of large-scale Boolean networks compared with the existing algorithm. The key idea in our approach is to use an adjacency matrix of a directed graph induced by a Boolean network, and Boolean operations are not focused. The effectiveness of the proposed approach is shown by an example of a biological network.