In a word...yes. Inkjet prints (and other print media, too) benefit from having more pixels to print with to as much at 360 ppi. In JPEG mode, fine compression (about 1:6) has very few artifacts, although you will spot them at high magnification in the right images. In normal compression (about 1:12) these artifacts become more noticeable, and with basic compression (about 1:18) they are quite objectionable.
You can get fine output from the D100 in both JPEG and RAW modes, although it is slightly more challenging to get the best out of the JPEG mode. I would not sell short the JPEG mode, however, as it is more economical of space, it can be written to memory much, much faster, and it allows firing 6 continuous frames rather than the 2-3 in the RAW mode. Just like any camera, there is no one "best" setting, only the most useful settings for your particular application. I use the fine JPEG mode a lot, but do gravitate to the RAW (NEF) mode for certain shots where I want to be assured of getting the most out of the image.