In short, the answer is yes. I'm going to limit this answer to western Europe, as I am less clear about the regions beyond during this time period.

Anyways there were a variety of benefits that greatly increased the quality of life for peasants during the high middle ages, most notably a slight warming of the climate which tempered the winters and improved the growing season. This may not sound like much, but combined with the Agricultural Revolution it helped triple food production. Three field farming, where farmers would rotate crops between 3 or more fields allowed them to grow more than the previous 2 field systems that left half the land empty at any given time. Metal plows made planting much easier while windmills and waterwheels also made peasant's lives easier.

During this period manorialism (like feudalism) was worked out where peasants would work as serfs for nobles. While it gets a bad rap nowadays, it was an effective system for the time where peasants and landlords both were encouraged to increase production (for the landlords to increase wealth, for the peasants to eat more) which created abundance for both classes.

This time period also was free from any large pandemics, (until the great plague in 1347), and was relatively peaceful without Viking, Maygar, or large Muslim invasions that had plagued the previous centuries. All this combined allowed Europe's population to triple from about 20 million to around 70 million from 1000-1300.

Food surpluses also led to the Commercial Revolution, in which some of the first banks were opened and trade greatly increased. During this period there would be regular fairs where people with their surplus food could buy various trade goods from traveling merchants at set points. This increase in demand led to an increase in production, with guilds forming in new fastly growing cities to manufacture goods

All this meant peasants were better fed, had more stuff, and lived longer lives than ever before. Now this would not last, with the Great Famine in 1315, and the Great Plague in 1347 temporarily reversing those gains for the next several decades, but from 1000-1300, life definitely improved for the average peasant.