Yes, but it doesn't seem to be working consistently at the moment.
Just select the share icon at top of screen on iPad, bottom on iPhone and select, "Import with iBooks". The file should open in the iBooks app on your device.
Could be that if the file is already in your iBooks app on your mac, then the file is only in the cloud, it doesn't appear if you haven't already downloaded it. The key is to de-select "show only files on this iPad" so the file will show up and can be downloaded. If it is a new file, then it appears to be saved to iBooks as advertised.
Not sure, I could be all wet. It is driving me nuts.