Yes. There is significant and credible research out there now that indicates that it does easily get into foods (I've wrote a hub related to this).
Late last year, a published study found that BPA levels elevated significantly in participants that ate canned soup once a day for five days. The BPA came from the lining of the can.
For those not familiar with the negativity surrounding BPA - it is has been linked to a number of health issues, including some cancers.
The good news is that many companies are making efforts to no longer use linings containing BPA.