Yes, they are. In the novels, this is made very clear, though it's possible they've glossed over it on the show and I didn't notice (knowing the truth already I didn't pay much attention during that bit).
Near the end of Game of Thrones (staring around chapter 40-ish), Ned is trying to retrace Jon Arryn's investigation that he suspects got him killed. He eventually comes across a book that describes all of the highborn children dating back many, many generations. According to the genealogy book, in every case where a Baratheon father had a child with a Lannister mother, they always favored their father very strongly - broad shouldered and dark haired (e.g. like Gendry). Later on, when Sansa remarks that Joffrey will father lovely golden-haired children for her, Ned finally connects the dots: all three of the Baratheon children are described exactly the same way, and those characteristics are those of Cersei and Jaime.
Later on, when Ned confronts Cersei about his discovery, he includes all three of her children in his accusations, and Cersei doesn't deny it.
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