Yes. One that replenishes itself over time, and in moderation, hurts none. It was celebrated in alchemy and healing by the Alteans of old.

My father, however, cared more for martial might than efficiency, and often slaughtered entire worlds while taking their quintessence.

[ It's mostly fine unless you are Lotor and feel like you need special quintessence in order to achieve universal peace. Then it's not fine. ]