Integrate with SF Custom Objects

I am working for a client on integrating an existing WordPress site with Salesforce.com. I know that this Salesforce Plugin for Gravity forms works for web to lead with Salesforce. However, my client also has a custom object in Salesforce that will need to be populated when a questionnaire is filled out. Do you support integration with salesforce custom objects?

https://www.ads-software.com/plugins/gravity-forms-salesforce/