"Moeten wij met een penseel verven?"
Translation:Do we have to paint with a paintbrush?
It means to put paint on something so yes but it doesn't have to be coloured paint; it can be white paint as well. 'Verven' is mainly used for maintenance jobs like putting paint on the wood around windows or on a shed, usually in large quantities. In that case you use a 'kwast' or a 'roller'. An artist doesn't 'verf', he 'schildert' and mostly he uses not a 'kwast' (paint brush) but a 'penseel'. Also the word 'painting' is translated as 'schilderij'. Does that clarify things a bit?