Yes. Most walkie talkies sit in a recharging caddy with spring loaded DC contacts.
In fact, almost all DC transmission is by contact.
If you want "non-contact", that would be a more interesting and likely question. DC power can travel through a vaccuum, inside a vaccuum tube, between anode and cathode, without the anode or cathode being in contact with each other.
Yes, contact with a plug in a socket is what transfers power. Think of a cordless telephone on the charger, DC power is transferred when it is on the charger via the metal prongs and plates that come into contact.
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