According to the official EES site you do need to visit a kiosk to have fingerprints checked or if you have a biometric passport then you can use the machines.

https://travel-europe.europa.eu/ees/...the-first-time

If you have crossed the borders of the European countries using the EES more than once since the EES started

The photo of your face and/or your fingerprints will already be recorded in the EES. The passport control officers will only verify your fingerprints and photo, which will take less time. In rare cases, it may be necessary to collect and record your data again.

If you hold a biometric passport, you will be able to enter more quickly using the self-service system(if available at that border crossing point).