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Yes and there's also a similar service where a signing person can video chat to a sign language interpreter who voice calls the hearing person while signing in the video chat. Proficient signers are very high bandwidth.

I used to have regular calls with a sysadmin who connected to our service using a relay service. This was back in the early 90s before the internet was pervasive, so we replicated databases via modems, and that involved coordination with the various admins. The relay operators were always quite clear when they called, letting me know they were acting as a relay for the guy, and despite our fairly technical discussions, it worked. I won't claim it was the easiest communications I've ever had, but we kept our systems connected.

IP Replay. as dumb teenagers my friends and i abused this system for prank calls