Yes, there are many. Later in the detailed steps, I'll cover how to get started with one of the more common programs, Frontpage. Frontpage is a what you see is what you get (WYSIWYG) web page editor. Dreamweaver is another. These programs allow you to create your web pages in much the same way as you would create a word processing document.
Keep in mind that it would be beneficial to try making at least one web page using a simple text editor, such as Notepad. That way you'll gain a basic idea of what is really going on "behind the scenes." Even if you decide later to use a GUI program for making your pages, you'll still benefit from that knowledge and experience of making a page in plain text HTML.