Almost certainly
There's an entire essay devoted to the subject of lembas in History of Middle-earth, imaginatively titled "Of Lembas"; in it, Tolkien writes:
The Eldar say that they first received this food from the Valar in the beginning of their days in the Great Journey. For it was made of a kind of corn which Yavanna brought forth in the fields of Aman, and some she sent to them by the hand of Oromë for their succour upon the long march.
[...]
Now this corn had in it the strong life of Aman, which it could impart to those who had the need and right to use the bread.
History of Middle-earth XII The Peoples of Middle-earth Part 3: "Teachings of Pengolod" Chapter XV: "Of Lembas"
Although "magic" in the Tolkien Legendarium is a difficult thing to pin down, "the strong life of Aman" certainly sounds magical to me.