OP is wondering whether the conserved charge associated to a continuous symmetry always generates the symmetry itself. We can say, in full generality, that the answer is
Yes.
Let us see how this works.
Classical mechanics.
We use a notation adapted to classical field theory rather than point-particle mechanics, but the former includes the latter as a special sub-case so we are losing no generality.
Consider a classical system which may or may not include gauge fields and/or Grassmann odd variables. For simplicity, we consider a flat space-time. Assume the system is invariant under the infinitesimal transformation $\phi\to\phi+\delta\phi$. According to Noether's theorem, there is a current $j^\mu$
$$
j^\mu\sim \frac{\partial\mathcal L}{\partial\dot\phi_{,\mu}}\delta\phi
$$
which is conserved on-shell,
$$
\partial_\mu j^\mu\overset{\mathrm{OS}}=0
$$
This in turns implies that the associated Noether charge $Q$
$$
Q\overset{\mathrm{def}}=\int_{\mathbb R^{d-1}} j^{0}\,\mathrm d\boldsymbol x
$$
is conserved,
$$
\dot Q\overset{\mathrm{OS}}=0
$$
In Ref.1 it is proved that the charge $Q$ generates the transformation $\delta\phi$,
$$
\delta\phi=(Q,\phi)
$$
where $(\cdot,\cdot)$ is the DeWitt-Peierls bracket. This is precisely our claim. The reader will find the proof of the theorem in the quoted reference, as well as a nice discussion about the significance of the result.
Furthermore, a similar statement holds when space-time is curved, but this requires the existence of a suitable Killing field (cf. this PSE post).
Moreover, for standard canonical systems, Ref.1 also proves that $(\cdot,\cdot)$ agrees with the Poisson bracket $\{\cdot,\cdot\}$.
Quantum mechanics.
This is in fact a corollary of the previous case. Ref.1 proves that, up to the usual ordering ambiguities inherent to the quantisation procedure, the DeWitt-Peierls bracket of two fundamental fields agrees with the commutator $[\cdot,\cdot]$ of the corresponding operators.
If we assume that the classical conservation law $\partial_\mu j^\mu\equiv 0$ is not violated by the regulator (i.e., if the symmetry is not anomalous), then we automatically obtain the quantum analogue of our previous result, to wit
$$
\delta\phi=-i[Q,\phi]
$$
as required.
References
- Bryce DeWitt, The Global Approach to Quantum Field Theory.