In my hometown in Idaho in the 1990s and 2000s yes, this includes access roads and improvements to the surrounding area. A car dealership and Wal Mart both paid for road improvements and traffic lights as part of development.

The developer gets to at least name the roads. I worked for a city, the developers would submit names and while the city had the final call 99% of the time they would just accept whatever the developer submitted. The only times that I saw it get denied were times where it would create confusion like a similarly named road already existed or it could be construed as something profane