Not necessarily. In many US states, tips count for a portion of the minimum wage. So if you tip a minimum wage employee but the tip does not cause them to go above the minimum wage, you have only reduced the amount the employer is required to pay. Once the employee receives $5.12 in tips in an hour, they will get each incremental dollar of tips.

https://www.dol.gov/agencies/whd/state/minimum-wage/tipped