Yes. However, please note the actions to take before you bring a helper on holiday with you:
Apply for the correct visa
Be sure to check the type of visa that helpers require in the designated country. For example, tourist visas or specific short-term visas for helpers who are travelling with their employers. If the appropriate visa is not obtained, helpers might face severe penalties.
Pay the right salary if she continues to perform work duties for you
When travelling with a helper and she is working for you, please note that you are required to pay the minimum wage of the designated country, and not the salary she is receiving in Singapore.