Yes. You can repay unsecured income taxes at 0% interest through the Chapter 13 plan and avoid interest and penalties. Secured taxes (tax liens) can be repaid at low interest. Some of the old personal taxes can be wiped out completely.
Past due property taxes, not just personal taxes, can also be repaid through the Chapter 13 plan. With property taxes, though, the interest rate can be fairly high so you may have a better deal if your mortgage company pays for the property taxes and adds them to the loan.