Yes, and I think more than one. The names escape me, but search the store for remote, click on applications, and read the descriptions and reviews. I've got a new mini coming and have been researching control with my Touch.
Kool ill have a look on the apps store it would be pretty kool if there was one cuz the amount of times i keep looseing my remote for my imac it would easy if i kept useing my pod instead.
I think i mite give rowmote a try but i kinda want it to operate like the remote app i.e so i can view the front row on my ipod screen but i think im making a tall order the tho