Yes! Even with challenges. (I agree with the other posters, BTW, that it is not a function of gender. It's the individual child, and the parenting that child receives).
We were one of those smug couples congratulating ourselves on our parenting skills after our ultra-smooth-sailing experience with Kid #1. Aaaand then our son showed up. Absolute hell on wheels: moody, energetic, willful, clever, contrary, manipulative, not born with loads of empathy. We have earned our parenting stripes with this child. He also has food issues, which took us a few years to figure out. Before our experience with DS, I would have said that food sensitivities were a lot of hokum. Not so! Once we figured out his trigger foods and started avoiding them, his moods and behavior improved dramatically. He is 11 now, and doing great. He is generally happy and well behaved; we even get compliments on his manners. But I shudder to think what he would be like without firm parenting.