Yes. Anytime a hyphen is used in an English word, it signifies combining two words as one. So to clean up is two words meaning literally clean something up. In that case it is used as a verb. Clean-up changes the meaning to a noun with one meaning. Clean-up could be used as follows: After the shelves were built there was a lot of clean-up that needed to be hauled away...in this case clean-up is used instead of such words as debris or garbage.

the first is n. the second is v.