In short - yes. Some people think an estate plan means an intricate series of intricate trusts and closely held corporations used for tax avoidance. While that can be part of an estate plan, that's not what most people need - if you and your spouse's total assets are worth less than $10.9 (2016) million, you won't need anything like that to avoid paying estate taxes. 

For most people, an estate plan consists of 3 documents - a will, a financial power of attorney, and an advance directive.