Is `if` faster than ifelse?

When I was re-reading Hadley's Advanced R recently, I noticed that he said in Chapter 6 that `if` can be used as a function like `if`(i == 1, print("yes"), print("no")) (If you have the physical book in hand, it's on Page 80)

We know that ifelse is slow (Does ifelse really calculate both of its vectors every time? Is it slow?) as it evaluates all arguments. Will `if` be a good alternative to that as if seems to only evaluate TRUE arguments (this is just my assumption)?

I'm sorry if there was a duplicated question on SO. I did a quick search but I didn't see any.