Yes. Easier to wash when needed.
If you want them shiny and easy to wipe down, a satin or semigloss would work. However, make sure the paint has a sealer over it if you are talking about cabinets.
Gloss is better.
Since it requires more attention when painting, I would make sure the wall is well-prepped and I use high quality roller covers & cut in brushes.
The glossier the better in a humid room like a bathroom or kitchen. Semi gloss or glossy should be great!
You could do eggshell, which has some gloss but not tons.