Yes. There are many approaches that help rls. Massage of legs is reported by many patients as relieve prior to bedtime. I do noted that excessive massage of legs can distract from falling asleep. Botten line: if it helps, use it, if it's excessive talk to your doctor about treatment alternatives.
It may. A variety of integrative (or cam) techniques, including massage, acupuncture, acupressure, a variety of herbal remedies have people giving testimonials about how well they work. However, I have not been able to find randomized controlled trials that put these claims to the test. That being said, massage is certainly a technique that could not hurt, and may at least temporarily give some relief.