Yes, there is. Pipes are file handles, and anything that shows open filehandles (lsof, for instance) will show them.
The closest thing that comes to mind is lsof -p <pid>|grep FIFO.
lsof -p <pid>|grep FIFO
Well, pipes are just open file descriptors in *nix, so you could ask it to print the open file descriptors for a specific process with:
lsof -p <process id>
I don't know if there's a way to filter by pipe creation, though.