Yes, Konstantin Feoktistov flew on Voskhod 1 which he had helped build as an member of Korolev's design bureau. Flying a civilian engineer rather than a military pilot was a political decision by Korolev, and the Russian Space Agency heralded the flight as follows
The expedition made Mr Feoktistov the first spacecraft designer to have tested his brainchild under real conditions.
This mission was remarkable for the fact that it involved for the first time three men in space in one spacecraft. In order to achieve this so much weight had to be savedWhich made for such a crammed capsule that the cosmonauts could not even wear spacesuits. A "courageous" gamble with great danger as evidenced by the fatal depressurizing of Soyuz 11 a few years later.
Notably, Feoktistov was part of the two cosmonaut party that visited the US as guests of NASA in the 1960s. They interacted extensively with their American counterparts, including Gene Cernan who mentioned this episode in his book Last Man on the Moon. Interestingly, in an illustration of common stereotypes Cernan described Feoktistov as a "thin, wimpy engineer" in contrast to the "jolly bear of a man" Georgy Beregovoy who was a fellow military pilot rather than spacecraft engineer.