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Yes - that's known around here as "driving with load" (DWL).
Cruising techniques, in order of lowest to best efficiency:
1) constant speed or cruise control
2) constant throttle
3) driving with load or target driving
Another way to describe DWL is "target driving": using the "instant" readout on your fuel consumption display, you pick the target MPG or L/100km you want to achieve. You simply adjust the throttle to stay as close as possible to that target, which means lifting as load increases, adding more as it decreases. Your speed varies, but your consumption stays on target.
Obviously this technique works best where outside influences (mostly terrain changes) impose manageable load changes.
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