Yes. I'd argue that it's not only good, it's required as part of the quest toward a child being self-sustaining. I personally think that they should be included in age-appropriate tasks in the kitchen as early as possible. By 2 or 3 (depending on the child), they can learn how to do things like measure flour or stir a cold dish with close supervision. At 5 years old, my son learned how to cut vegetables and wash dishes. He's now 7, and can readily make salads or sandwiches, clear the table, wash the dishes, and put away everything that's not placed too high for his stepladder to reach. With close supervision, he stirs a hot saucepan and fries things in a skillet. His 2-year-old sister is starting to learn how to measure for baking.
For myself, I could make entire meals for the family by about 9 years old, and my sister and I frequently baked cookies by ourselves before then. My husband had 6 younger siblings, and cooked for all of them by the time he was 11. Starting at 10 seems awfully late by my frame of reference; the earlier the better.