Yes I travel alot for work and it is amazing how much better things are when you tip.
I usually leave a tip on the last day of my stay. I remember a vacation many years ago at a nice, but not high end, water front hotel. Every day when we returned from breakfast our room would be clean and the bedding changed, and there would be a different animal made from a towel on our bed. I mentioned to the desk clerk how amazing some of them were. He said our housekeeper was from Haiti or Somalia or some such place, and knew how to make many different things out of towels. We left her a nice tip for the clean room and towel origami she surprised us with every day. From what I hear, this is popular on cruise ships.
I usually leave a tip on the last day of my stay.