If I understand your question correctly, my answer is yes.
You just pick the songs or albums you want to move and drag them to the computer"s iTunes Library.
But, maybe you are trying to get the iPod's music into a different computer (let's call it C2) from the one you typically synch it with?
If this is this question, iTunes will tell you that you will clear all of the music from C2 if you want to add music from your Pod to C2, IIRC.
If this is your question, you need a program like Senuti if you have a Mac.
http://fadingred.org/senuti/
I have never used Windows programs that do the same thing, but here is an example of a program that should help you move songs from your Pod to a different computer:
http://www.mediamonkey.com/product_ipod.htm
Quote:
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Do you need an iPod Manager that gives you more control over your iPod than iTunes? MediaMonkey, unlike iTunes, allows you to synchronize almost any audio format to your iPod via on-the-fly conversion, and lets you to copy the contents of your iPod back to your PC. Download it here--it's free!
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Windows savvy folks may have better suggestions than me in this regard - there are many such programs.
FYI.