Yes, but you still have to control the iPod from the iPod. The new Sync system eliminates all of that. Only other way to do it the right way is to change head units.
I also believe Rockford Fosgate makes a unit that allows you to control the iPod from the HU, charges the iPod as well. But to really get an intuitive control over the iPod, you'll need to swap HUs, I did the Kenwood DDX7019 touchscreen (2 years ago) and it's worked great, even lets me play videos off my ipod. For the money and control, just swap it out, you'll be a lot happier.