Short answer: Yes, but not if you have a lot going on that uses a lot of power - for example, using the screen and/or GPS. It will charge if you have it connected and are only using blueooth.
Reason: They follow the USB 2.0 standard to the letter, which allows 0.5 amps through the port. The system was seemingly designed before USB 3.0, which allows more power.
If you're not playing audio through the USB you can buy a charger that fits in the 12 volt accessory port. Many of them are 2.0 amps which will recharge pretty quickly and let you both use the phone and charge at the same time.