Yes they do.
Rule of thumb is 'transport' missions is trade rank and are one way only, like a delivery.
Sightseeing and expedition, including collect data are exploration rank based. They are also all return journeys.
The rank requirement for each mission is what you will gain rank in. So if a mission recommends you should have a certain exploration rank (i.e. Pathfinder) you will gain exploration rank, likewise if it recommends a trade rank you get trade rank boost.
The amount of rank gained is getting a nerf in 2.3, currently a mission reward is worth about 50% of equivalent credits of scans.