Basic RTOS concept. Tasks communication
This is a good way to pass data between tasks, yes. If it's anything like FreeRTOS, you'll also be able to block the receiving task until something is in the queue (if you wish). Or, you can check and drop through or wait for a specified time before dropping through to the next instruction in the task. This blocking, to my mind, is one of the real beauties of running an RTOS. To be able to have one task waiting for another task to pass it data can make your life a lot easier and queues enable this in a thread safe manner. 

You also have the facilities to check whether a queue is full before writing to it and, if it is full, the possibility of waiting until there is space before writing to it.

You will have the option, I assume, to write lots of different types of data to the queues, including structures. Queues are very useful and a safe way of passing data.