Yes. Forms are very handy to have on sites. The contact form is the most common one you will see and probably the least used by visitors. Most people don’t want to fill out a generic form. They would rather email you, call you or visit in person if you have a storefront.
When you use forms that are more specific than a simple contact form, you have a better chance for someone to use it.
However, there are some companies where forms are needed for customers/clients to use. This is where it is very handy to have these forms on your site rather than having to email, fax or snail mail a form to a potential or current customer.
To learn more, see my blog post: When is it good to use forms on my site?