Yes, now in beta as part of OpenPaperWallet (and the retail kit, SafePaperWallet) -

BIP0038 compliant, encrypted private keys in QR codes.

Software v3 BETA

The new v3 offers many features:

- A step-by-step wizard
- Multiple background design options
- Encrypted private keys (BIP0038) and in-browser decryption.
- Deterministic Aliases

https://safepaperwallet.com/software-v3-beta/