No, but @jb55 is working on something
nostr:nevent1qqsp67xffp5nthmesapdcjw7fyhpazjc284x73vh8kz0aacvnr4q6sqpzemhxue69uhhyetvv9ujuurjd9kkzmpwdejhgqgcwaehxw309aex2mrp0yhxummnwa5x2un99e3k7mgpz3mhxue69uhhyetvv9ujuerpd46hxtnfdupzqczwjmsfnym2zpyg89vtqs95weewpuzgex9v0yln0llycusz084j7znns7 

 There isn't. From what I remember there's no way to do like nip 55.
It would open the app and show a pop up for every event you sign.
The only thing I now that can work on ios is make a nip 46 app with push notifications.