The answer to your question is absolutely. When an a/c is still at the gate, they will call clearance delivery (or the ground control frequency at smaller airports) to have their filed flight plan read back to them. Usually they are told at that time which runway to expect for departure.
During pushback, they will call ground which directs them out of the ramp area. From there they are handed over to the tower frequency which directs them to the runway. Immediately after takeoff, tower hands them over to departure control.
For arrivals, approach control hands the flight over to the tower while they are still several miles from the airport. Upon landing, tower hands off to ground as soon as they clear the runway. Gate assignments are usually given on airline ops frequencies or (usually) over ACARS when a flight makes it's "in-range" report to ops about a half hour before landing. Some airlines (such as CAL at IAH) even have their own ramp control frequencies at hub airports
US ATC frequencies can be found in the Airport/Facility directories published by NOAA/NOS (available at any pilot shop or FBO) or on www.airnav.com