No.
If the procedure has been executed recently, and the plan is still in cache, then you can query sys.dm_exec_procedure_stats, but a procedure will only have an entry in there if its plan is still in the plan cache, and that is dependent on memory pressure and activity on the server and is cleared on a restart.
Gail Shaw
Microsoft Certified Master: SQL Server, MVP, M.Sc (Comp Sci)
SQL In The Wild: Discussions on DB performance with occasional diversions into recoverability