Yes

Even though he's never experienced it, something deep inside Bran knows he wants to go. An unshakable, primal craving for sex fills Bran's mind. He doesn't just want to go. He has to go.

"Please Robb," he begged one last time. "I'm an adult. I can handle it."

"I know Bran," Robb soothed, a genuine smile growing on his lips. "I sometimes forget that my little brother is all grown up." He pauses for a moment, reminiscing, before saying "Change into your riding clothes and meet us at the gates. And be quick about it."

Bran didn't need to be told twice. He practically ran to his room, giddy with excitement. He wasn't even sure why he was excited, he just knew that he was. He quickly changed into the appropriate leathers and such. By the time he finished changing and made his way outside, Robb and Theon were already ready with three horses. The boy tried his best to look tough and adult, though he did a laughably poor job of it.

"Don't look so serious!" Theon joked as Bran mounted his horse. "Just have some fun."

"Theon's right," Robb agreed. "Just enjoy yourself."

Bran just nodded and, together with his guides, left the castle.