Generally, yes. Though some find it acceptable to let babies pee in disposable diapers many times before changing, cloth diapers should be changed after every significant wetting to avoid diaper rash. How often this happens varies by age and for each baby, but in general, a newborn will need to be changed every two hours or so and the time between wettings will stretch out over time, with toddlers needing to be changed about 6-8 times per day. The less time your baby spends in a wet or soiled diaper the better for their bottom, whether that be in disposable or cloth.