Growing up the kids always had 3 meals and 3 snacks a day. So, they rarely asked. If they did ask, I knew they really needed or wanted it. So, depending on the food they usually got it.
If they're truly hungry and not just stalling because it's nearly bedtime, then yes.
We don't have set mealtimes. If someone is hungry, they eat.
I was, and I did, but I also ran a schedule for meals and snacks, and I hardly ever got requests for food at other times.
I am no parent, and if they are hungry of course I'll give them food, but if they just want to eat, and if I can tell they aren't hungry, I would say no.
Joke (Pic of Dudley Dursley):