Yes, and how much depends how self sustaining you can make the solutions. To illustrate it with an extreme:
Some initial mass of machinery must be pushed out of the significant gravity well called Earth at great cost. After which replication of more machinery, manufacturing of rockets and mining of raw materials could be done in much smaller gravity wells (e.g the moon) at significantly less cost to reach orbit again.
If this is achievable, your only useful remaining mass to transport from Earth are humans, _less_ the usual long term life support equipment, the payload is relatively tiny... and if you are thinking far ahead enough even those are self replicating :)
The general alternative falls under the acronym ISRU: in-situ resource utilisation. That's the goal of utilising materials sourced from space environments themselves (Moon, asteroids, etc.) for both structure and fuel for a spaceship.
Given that space is mostly, er, space, you've got a bit of a challenge. You have to find non-space stuff that's made of the things you're interested in, and have the capacity to convert it into the forms you need.
