For the most part - yes
The laws in Australia are as convoluted as they are in Canada, and vary between provinces.
NSW is the by far the most liberal, and even street prostitution is legal there (with some restrictions regarding being near schools and hours)
Escort Agencies are ALWAYS legal (outcall) regardless of the state.
Independent incall (or what they call one woman brothels) are legal
Incall agencies (they simply call them brothels) vary in terms of legality from province to province. In some it is completley legal - and in others not so. However, much like in Canada, even in the areas where it is not legal, it is rarely enforced unless other factors (minors, illegal immigrents, near a school etc.) are playing in.