Yes, both hotels have multiple lifts which cover all floors of the hotel. These is step free access from the LEGOLAND Resort Hotel and the Castle Hotel into the theme park via lifts. It takes about 5 minutes to walk from the Resort Hotel Reception to the Castle Hotel.
There is also step-free access from the Woodland Village to the theme park. It is a 10-15 minute walk, depending on the location of your lodge/barrel, which is clearly sign posted.