Yes, the `info', `xinfo', and `ivinfo' programs do this. info uses curses, xinfo uses standard X11 libraries, and ivinfo uses InterViews. You can get info as part of the latest Texinfo package (see question 17). xinfo is available separately:
/prep.ai.mit.edu:pub/gnu/xinfo-1.01.01.tar.Z /export.lcs.mit.edu:
ivinfo is available in a comp.sources.misc archive or from Tom Horsley <tom@ssd.csd.harris.com>. For ivinfo, you need Stanford's InterViews C++ X library, available via anonymous FTP (interviews.stanford.edu).