Yes, but usually not as themselves, so they were hired on the quality of their voice performance. So lot of times you don't recognize it is them, which is really what you want from a performance where you really just see the character and not the actor performing.

But, with more of their actual likeness being put in games instead of an opportunity to truly disappear into a role it can lead to their presence overshadowing the character they are playing. Which is a shame to me since it's a medium where an actors actual voice or appearance doesn't have to matter like live action does.