Yep, you can check in the Gruntfile, it's incremental already. If it wasn't it would've become unbearable a lot sooner!
Note that Babel's performance got worse in the 6.x series, which is a shame (my understanding was that it was supposed to eventually become faster).
By comparison, I remember TypeScript's incremental recompilation to be a lot faster, but it comes with its own set of compromises
For now, carefully writing vanilla ES2015 + tests seems like a really attractive option :)