The Mac Disk Utility works fine yes, just make sure you delete ALL the partitions and create 1 full sized partition on your card.
New cards will just have 1 partition anyway, but ones used for Raspberry Pi / PAW before will have a number of partitions.
Delete them and replace with 1 newly formatted partition all each time you upgrade the PAW software.
I guess it would be good if I added a step-by-step guide to this in the software guide for Mac users.