I would say no.
Someone on a bike is faster than someone on foot, whether they’re both at a calm pace or they both put effort into it. To keep up with a bicyclist who puts no real effort into it, you need to jog, and you’ll be out of breath long before the bicyclist will be. Q.E.D.
It’s because bicycles have wheels, and legs don’t. Having wheels means having a lot less ground resistance. (For a more direct comparison, look at an in-line skater.)
By the way, if cycling would take more effort than walking, I would wonder who in their right mind would have bothered to invent it. It would be easier to walk home than to go by bike.