Yes, to an extent.
Here is a quote about these enhanced interrogation techniques from Torture and democracy by Darius Rejali (Princeton University Press, 2007, pp. 77-8):
"But the appearance of prisoners with cuts and bruises in the dock made lawyers at the Ministry of Justice uncomfortable. So on June 1, 1937, the Gestapo and lawyers for the Ministry of Justice established interrogation guidelines. Henceforth, beating was to be regulated: only blows with a club to the buttocks, numbering no more than twenty-five. A physician had to be present after the tenth blow; “a standard club will be designated, to eliminate all irregularities.” In 1942, Gestapo chief Heinrich Müller expanded the approved methods. They now included sleep deprivation, starvation, exhaustion exercises, and confinement in dark cells. The rhetoric in these minutes and directives seeks to give the impression that Gestapo torture was a controlled process, and it invokes practices that the Gestapo knew were common in the United States and the United Kingdom. At Nuremberg, an Allied investigator confronted Dr. Werner Best, the Nazi governor of Denmark, with the Gestapo directives. Best, after all, was a recognized expert on policing. Didn’t he know better? Best objected to the Allied officer’s hypocrisy, pointing out that “similar methods were used in other countries.” Best was correct in one sense, of course [...] [but] also misleading. Actual Gestapo torture normally went far beyond these approved methods."
The German text of the Müller directive can be found in the IMT, vol. 27, pp. 326ff. https://www.loc.gov/rr/frd/Military_Law/pdf/NT_Vol-XXVII.pdf
A translation:
"1. The sharpened interrogation may only be applied if, on the strength or the preliminary interrogation, it has been ascertained that the prisoner can give information about important facts, connections or plans hostile to the state or the legal system, but does not want to reveal his knowledge, and the latter cannot be obtained by way of inquiries.
- Under this circumstance, the sharpened interrogation may be applied only against Communists, Marxists, members of the Bible-researcher sect, saboteurs, terrorists, members of the resistance movement, parachute agents, asocial persons, Polish or Soviet persons who refuse to work, or idlers.
In all other cases my previous permission is required as a matter of principle
The sharpened interrogation may not be applied in order to induce confessions about a prisoner’s own criminal acts. Nor may this means be applied toward persons who have been temporarily delivered by justice for the purpose of further investigation.
The sharpening can consist of the following, among other things, according to circumstances:
simplest rations (bread and water)
hard bed
dark cell
deprivation of sleep
exhaustion exercises,
but also the resort to blows with a stick (in case of more than 20 blows, a doctor must be present)."