Yes, there are two smart apps in the marketplace section of the official app under smartapps:lights and switches that do exactly this. Note that they have been around for a while, so they use the old V1 terminology, “hello home phrase” instead of “routine.” But they still work very well and many people use them.
Each of these associate one switch with one routine/mode change.
There’s also a much more sophisticated community-created smart app (by the same author as the two above) called Alexa helper which can set up much more complicated associations for multiple switches.
