IMHO, yes.
of course this is not to say that you shouldn't give the adaquate time to rest and recover... (never work the same muscle group more than once in 48-72 hours) but sometimes, especially if you are just starting out, the soreness can stay for a lot longer than that...
if the muscle has the full range of motion for the exercise you want to do, and you do not experience extreme pain, (as opposed to soreness that is 'uncomfortable' but can be tolerated)... go ahead and work it...
it goes without saying that a muscle that is strained, pulled or is a source of PAIN, should NOT be worked...
if you are not already, you should make sure that you are doing a full 15-20 min of stretching after your workout... it sounds like a lot, but it will go along way to keeping away muscle soreness... and make sure that you get a good amount of carbs and some protein immediately following your workout...