Yes, weighted keys are better in general. For most piano players, fully-weighted keys are more comfortable and more natural to play on. For beginners, it's best to learn to play on fully-weighted keys due to the fact that they closely resemble the responsiveness of a traditional acoustic piano. That said, for beginners and veterans alike, weighted keys are the most sought after type of key on a MIDI keyboard. Semi-weighted keys are a great fallback option as well though.