Yes,
Let $Q \in [\mathfrak{D}:Sets]$,$A \in \mathfrak{D}$ $P \in [\mathfrak{C}:Sets]$ and $B \in \mathfrak{C}$.
If $F: \mathfrak{C} \rightarrow \mathfrak{D}$ is left adjoint to $G$, then there are unit and counit natural transformations $\eta: F \circ G \rightarrow 1_{\mathfrak{D}}$ and $\epsilon: G\circ F \rightarrow 1_{\mathfrak{C}}$ respectively.
These induce natural ismorphisms $\epsilon^{\star}: G^{\star}\circ F^{\star} (Q)(A) = Q ((F\circ G) (A)) \rightarrow Q(1_{\mathfrak{D}}(A)) = Q(A) \cong 1_{[\mathfrak{D}:Sets]} (Q(A))$. Therefore, the counit has induces a unit.
Dually, we have $\eta^{\star}: F^{\star}\circ G^{\star} (P)(B) = P ((G\circ F) (B)) \rightarrow P(1_{\mathfrak{C}}(B)) = P(B) \cong 1_{[\mathfrak{C}:Sets]} (P(B))$ and similarly, the unit has induced a counit.
Therefore if $F$ is left adjoint to $G$, then $G^{\star}$ is left adjoint to $F^{\star}$.