Short answer is yes.
To be picky it's a tax not a fee.
Here are the details from the ATF
A 1 page press release about it-
http://www.atf.gov/press/releases/19...transfers.html
The National Firearms Act Handbook has a section about it -9.5.3-
http://www.atf.gov/publications/firearms/nfa-handbook/
If you download the pdf handbook it is pdf file page 72, or handbook page 60.
I generally recommend downloading the NFA Handbook to anyone interested in NFA stuff. It is the official ATF position on NFA laws, regulations, and procedures. It isn't the internet version of laws. It covers a lot of stuff and has copies of the actual laws and regulations.
There are a couple threads on the Subguns NFA board about this now-
when owner dies-
http://www.subguns.com/boards/mgmsg.cgi?read=765671
Before you die-
http://www.subguns.com/boards/mgmsg.cgi?read=765713