Yes. That's it. I discovered it when my ds got his dx of asd as children with ASD can be incredibly difficult to motivate off of their own agenda. I learned how to apply it and now do so with my other children.
Just imagine this scenario:
Ask the child to come to the table to do x (make up your own word) and tell them it is to count 2 sweets. They'll come. It's sweets. They count then eat sweets. Loads of praise. Lesson over.
Next day tell them to come to the table to do x. Get them to count 10 raisins, then eat them. Loads of praise. Lesson over.
Next day get them to come to the table to do x. Start off raisin, button, raisin, button pattern that they have to finish (up to 10 so 5 raisins). eat them., loads of praise. lesson over.
Next day get them to come to the table to do x. Time them doing pattern of day before. Loads of praise about how fast - what a fun game. Eat raisins. Lesson over.
Next day get them to come to the table to try and beat the time of the previous day. But first get them to draw a circle, then pattern 'game'. Loads of praise etc.
Next day, same again but substitute raisins for cars/other object of interest. Timed pattern. Loads of praise.
Next day introduce something else as well/instead/more beneficial than drawing a circle but still do the other things. Total demand time of the child still no more than about 4 minutes. But the child knows that it's good fun, it's rewarding, it's short, it's every day no arguments.
Decide what the skills are that are going to be learned. Always finish each skill on a positive even if that means introducing an easy request. i.e. dd is learning to tell the time. She is struggling a bit with half pasts so I interchange them with o'clocks and make sure the last 3 she answers are easy o'clocks so I can tell her how brilliant and clever she is despite having got a few half-pasts wrong.
Once decided on the skill, do it regularly and stick with it. Don't chop and change all over the place. Keep the skill lessons really short. Just a few minutes. Keep the pace fast. Change to new skill whilst the child is engaged not fatigued and absolutely keep your patience it it appears to be going no-where. Be cool. Offer praise. Keep it short and try again the next day.
This above isn't ABA btw. ABA is a lot broader. However, this is how I USE ABA for a bit of additional work after school.