Yes, socialist countries cannot be imperialist as Lenin laid imperialism out. Socialist countries can, of course, benefit from trade or interaction with countries of lower development, but without the M-C...P...C'-M' circuit there's no real drive for the same dominance of financial capital nor exporting capital. It makese sense that moving beyond the profit motive means you are no longer beholden to the drives of the profit motive, and lack the financial incentive to practice imperialism.
The way you define imperialism is similar to the way people would define murder, as an action, but one where the definition says nothing about its origins or how to tackle it systemically. As for Russia, it isn't socialist, it just trades with socialist countries heavily and is a nationalist bourgeois country. My point isn't that Russia is in Sudan for any reason other than profit, my point is that Russia does not have the means to financially dominate Sudan and plunder it.