Yes, God loved the world so much that he gave his only Son. God gave his Son so that every person that believes in him would not be lost, but have life forever.
God sent his Son into the world. God did not send his Son to judge the world guilty. God sent his Son so that the world could be saved through his Son.
The person that believes in God's Son is not judged (condemned). But the person that does not believe is already judged. Why? Because that person has not believed in God's only Son.