Basically yes. When you extrude the object, it has an option for "path" and you just select the pline that will create the path. Also, you aren't really extruding a 3d object, what you are really doing is extruding a 2d object, and then is becomes a 3d object. For example, if you do a circle, it will become one solid mass. In order to get a pipe, you will need two circles, both extruding along the same path. Then you can use the "subtract" command, and subtract the smaller circle/mass from the larger one.
One last thing, make sure to set "isolines" to a higher value. The higher the number the smoother the extrusion