This article is from the Bagpipe FAQ, by Denise McNickle firstname.lastname@example.org with numerous contributions by others.
Yes, though they may be a bit harder to find. Highly recommended is H.J.
Clarke's "The New Approach to Uilleann Piping", which comes with an
accompanying cassette. Another somewhat less thorough tutor is Leo Rowsome's
"Tutor for the Uileann Pipes" (first published in 1936). Two other tutors for
the UP are: "The Tutor: Irish Union Pipes, A Workbook", Denis Brooks, 1985
(available from the Irish Pipers Club), and "Learn to Play Uilleann Pipes
with the Armagh Pipers Club", Eithne and H.B. Vallely, 1981 (also available
from the Irish Pipers Club).