Yes, there is certain knowledge we could gain by ethically unconstrained experimenting. But the Nazis did not gain much of that.
On a more positive note, religious preferences sometimes gives us willing subjects. Eg the Jehova's Witnesses don't like blood transfusions but do agree with surgery. So surgeon get to come up and practice blood-transfusion-less procedures. (No ethics committee would let you get away with trying these out otherwise when they are still in the alpha phase.)
I also did some recreational ice swimming (and read much more about other maniacs who do it regularly): so I can totally see how hypothermia does not kick in as quickly as people think it would.
There is even an ethical issues section on the wikipedia page. https://en.wikipedia.org/wiki/Nazi_human_experimentation
I was thinking of Pernkopf's anatomy (https://en.wikipedia.org/wiki/Eduard_Pernkopf) when i was making the comment. It is not true to say textbooks are based on his work.
But apparently his work is used in books. The argument is that it we use results and data from nazi experiments.