Yes, you need to create a Custom Form and add a File Upload Field to the form. Any files uploaded through a Custom Form will be stored in the Folder specified by the File Upload Field and will share the same access control.
You can use this feature to collect large files that are too large to be sent through email, collect resumes, or customer project files.
NOTE: Any file uploaded (submitted) through a Custom Form will be deleted automatically if/when the submitted form data is deleted.