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hippy-
Yep.
Usually you may ride on "Bundesstraßen" which are marked by the yellow signs like these:
(look for the numbers in the yellow boxes)unless they have the "no bikes" sign like this:
Which may or may not exist, depending on the size of the road. On some roads there is a bike road next to the car road, but no guarantees.Any big rectangular blue signs are "Autobahn", which means cars only.
If you have any questions regarding german road legality, hit me up, I've got the "Führerschein"
Murphy's_Law
It's very annoying in Germany that in addition to motorways you're not allowed to ride on "Kraftfahrstraßen" (something like 'motor-drive roads'), mostly dual-carriageway A-roads ("Bundesstraßen"). Obviously not everybody's favourite roads but it's often extremely difficult to find another route if they have been built where the main/only road traditionally used to be and where there are no parallel or even remotely parallel alignments, and quite often you d0n't have to be on them for very long before they connect to proper roads again. They're marked by this sign: