@Dezaki sort of. it depends where and at what time (the middle ages covers a pretty long stretch of time) in medieval europe your talking about. in some places soap was hard in others it wasn't, but they all basically involved mixing ash with some form of tallow (animal fat) or fatty oil, and it's pretty difficult to make anything of that combination smell like anything fragrant. Peasants who couldn't afford, or had no access to soap markets/makers, probably just rubbed their hands in ash and then scrubbed them in water. This is still an old camping trick if you need some way to wash your hands in the woods, but it can be pretty rough on your hands if you do it too often, as the wet ash essentially strips all the oils off your hands.
The catholic church got really weird about denouncing personal hygiene a few times (one of these times unfortunately coincided with the Black Death and almost certainly helped contributed to millions of deaths), but, contrary to popular belief, for most of the medieval ages people bathed fairly regularly and public bathhouses where common place in much of europe, often being attach to the local bakery in order to syphon the excess heat from the ovens to warm the water. Which only makes sense if you think about it. Medieval people might not have known about germs and bacteria, but it's not like the common person relished the idea of the dirt on their hands getting into their food as they ate or walking around smelling like litteral horseshit all day. Ironically it was often members of the nobility and upper classes who would grandstand about how infrequently they bathed as a way of touting their piety.