Is plasma membrane permeable to sucrose
No, but yes.

Sucrose is a large polar solute. 
Because it is polar, it cannot easily pass the hydrophobic core of the membrane.
So, if the lipids of the plasma membrane are mostly impermeable to sucrose, how do cells take in sucrose?

Plants

In biology, membrane-bound proteins are used for efficient transport across the membrane (Brian, 2011 from a review of Suc transport in plant cells). 
The specific group of membrane proteins used for sucrose transport are unimaginatively called Suc transporters (SUT).

So in a plant cell, sucrose can be moved across the membrane.

Humans

In mammals, there are no SUTs. Instead, sucrose is broken down into fructose and glucose by the enzyme sucrase.



From there, glucose transporters GLUT proteins carry glucose and fructose across the plasma membrane.