We're talking about programming, so yes there are ways.
You have to ask yourself "am I going to pay to have someone do this?" or "am I going to do it myself?"
But to expect a tool (I suspect you're thinking there would be something free out there) to do this is asking too much.
Why? Think about what you need to do: look for and capture post title, post body, date stamp, and author, at the very minimum, from a folder(?) of .html files, one after another. Any of those files may be structurally poorly written, so that the info isn't where the script is looking for it. What format is the date in? Does it need to get translated so WP understands it? Is there HTML markup within the text? Should that be stripped or preserved? (And the hundreds of other technical questions that will come up.)
Then you need to format/save that in a way that's readable to WordPress, either by injecting it directly into the database (nightmare) or formatting it for XML import (easier).
I imagine if someone did write something to be so universal as to take almost any file(s) arbitrarily and convert it to work (well) with WordPress, it would be a massive effort with little reward.
But writing it specifically for an specific case would probably be a fun project for an individual who needs it for his own purposes. Just my $.02.