Yes my wife and I went to the Dover fingerprinting location for ours. You walk in, take a number, called up to fill out a form, wait a few minutes then called back for fingerprinting. They will do the DE digital prints as well as the ink prints for other states. That's it. We were both in and out in short order.. less then an hour I believe.
Iirc the last day of the month is for sex offenders and is very busy. The first was another very busy day. They suggest you go pretty much any other time. Staff was friendly and chatty as well.