Yes.
Most of my experiance with brushless motors comes from RC airplanes. with them, the brushless motors can be 40-50% more efficent.
On a brushed motor, the brushes are carbon: essentualy, resistors. They also aren't in 100% contact all the time with the stator, so you get some losses through the air gap as the brush skips along the stator pads. Then there is the frictional resistance which is low but always presant, and carbon dusting as the brushes break down, that adds some high resistance shorts between the coils, allowing some of the currant to bleed over to the coils that are suppose to be off and causing them to fight the coils that are live. it also works in reverse were they cause that coil to become a generator and feed back against the movment of the armature.
Plus its DC currant, which is the least efficent way to move electricity. Brushless motors are pulsed DC, which is essentualy AC currant, and at higher frequancy, so the losses there are much lower than brushed DC. round that all off with the fact that its a computer thats handling when to fire each coil on a brushjless motor, instead of a mechanical brush, and you get your increased efficancy in small stages.
Its all small losses of efficancy for a DC motor, but they add up.