Yup, but it's never used in modern times, it's very frequently used in french books from about 200 years ago, the 'baiser' nowadays is considered very vulgar (it is very simmilar to 'fuck', but unlike 'fuck' wich is a pretty violent word 'baiser''s defenition is 'to make love to someone')
"Baiser" is "fuck" in french (: you are welcome.