Simple answer Yes. Also stopped at Gurnsey

Looking at Newspaper articles.
Looks like left Plymouth at 5pm on a Thursday.
Left Jersey at 12 Noon and Gurnsey at 5pm Friday.

Price was dependent on whether you had a Cabin or not.

Chief Cab - £1 1s to Gurnsey
Chief Cab - £1 5s to Jersey

Sec Cab - £0 12s to Gurnsey
Sec Cab - £0 14s to Jersey

Sterrage - £0 7s to Gurnsey
Sterrage - £0 8s to Jersey

Would take Carriages, Horses and Dogs if pay extra.