As far as I know- at this time the answer is NO.... but I hear we are "weeks away" (maybe, and hopefully DAYS away) from a direct root solution for 2.3.4.
As has been said before, if you have the GB upgrade, you can downgrade to 2.2.1 Froyo and work a root solution setup and then upgrade to 2.3.4. It's here somewhere, and on the XDA developers website.
For me, it's too much hassle to downgrade and then move fwd again. I'll wait until a direct GB perma-root solution comes out.
YMMV.