Yes. But it is not used much, apart from the slang term 'gora chitta' to say someone is fair and attractive (colorism is still prevalent in certain pockets of India which is why products such as so-called 'fairness creams' are in vogue). I think it's a word borrowed into Hindi from Punjabi.
गोरा also means 'white'. When talking about skin color, गोरा is the preferred word. With inanimate things, सफ़ेद is preferred.