Sort of yes. You pay them about 30 bucks and they stamp your passport. You can arrange it through Caribe Tours, which will take you direct through the customs station at Jiman? and on to Puerto Principe. A journey of more than five hours, cost a little over a hundred bucks tariffs included.
Contrary to what you read in the media it is NOT crazy to go to Haiti, and frankly in some ways it is tamer than DR. I have plenty of friends who go regularly, I go too, and my wife had a vacation there last Spring and fell in love with the place. Dominicans and Haitians are beefing,but mostly in the Cibao where the Haitian migrant labor presence is greater than ever before and has caused some tensions. In Dajabon lately the feeling is tense as well, but generally along the border they live peaceably enough side by side. Those provinces have always been heavily mixed and there is plenty of cross-cultural blending. Dont believe all you hear on this board or in the media.