Yes. FTL is merely moving in Normal Space faster than the speed of light, whereas Warp (AKA Hyperspace, Wormholes, etc) bends space, making the two points (source and destination) closer together, meaning that the distance between them and hence the time it takes to travel between them is much less. Try the old folded paper trick: draw two points, and draw a line between them. The line is the distance you need to travel from A to B. What if you bend the paper? Instantaneous translation. This form of travel has not been disproven as much as moving FTL has.
Anyone here played I War or read the Nights Dawn Trilogy. I war had quite a good physics in it, and both the game and book's jump system was quite detailed and believable. In I War, jumps had to be made at a Lagrange Point (a point in space where all the gravitational fields cancel each other out - one exists very close to us between the earth and moon), they also had an LDS (linear displacement s...) drive for speeds up to the speed of light (but not including). The Night's Dawn Trilogy had drives that tear a wormhole in space, with the length of the tunnel dependent apon the amount of energy you put into making it, hence jumps had to be made when travelling in the direction of the destination.