Yes, my home network works exactly like this. I have a vlan called "trusted" which can connect to any other vlan. One line in pf.conf.

My VLANs are something like: trusted, guest, media, cameras, printer, etc.

Many of these aren't allowed inbound or outbound connections (e.g. cameras and printer can only talk to things on their subnet).

Only downside is that stuff that works off broadcast packets (like bonjour) does not work across subnets.