Were any of the passengers rescued from the water like Rose? - RMS Titanic

Officer Harold Lowe

Yes. Only two of the sixteen lifeboats went back to pick up survivors, and they ended up saving six. The first was Quartermaster Perkis in Lifeboat 4, who was able to pull 5 people from the water but only 3 survived
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The second boat was Lifeboat 14 headed by Fifth Officer Harold Lowe, who had gathered nearby lifeboats together to free up room in one of them. When Lifeboat 14 returned to where the Titanic had sunk (approximately 150 yards away), Officer Lowe and a working crew of six men picked up four survivors from the water.

One of the four men found in the water, a William F. Hoyt from New York, died in the lifeboat. A British Inquiry asked Officer Lowe why he didn't return more quickly to help the people in the water. In his testimony, Harold Lowe responded by saying, "Because it would have been suicide to go back there until the people had thinned out." Lowe further stated, "...it would have been useless to try it because a drowning man clings at anything."

Lowe feared that a large number of people in the water would have swamped or overturned the lifeboat. It is Officer Harold Lowe's boat that saves Rose (Kate Winslet) in the film.