Should a function have only one return statement?

I often have several statements at the start of a method to return for “easy” situations. For example, this:

public void DoStuff(Foo foo)
{
    if (foo != null)
    {
        ...
    }
}

… can be made more readable (IMHO) like this:

public void DoStuff(Foo foo)
{
    if (foo == null) return;

    ...
}

So yes, I think it’s fine to have multiple “exit points” from a function/method.