Yes and no.
The standard setup is to use a glow plug relay. Unfortunately they don't really fit in a commodity relay socket. Huge tabs.
I feel like somewhere in a junk yard there's a timed relay in a car somewhere that is probably useful for a ton of tasks, but i haven't been able to determine what that is.
In the field of industrial control there are a lot of industrial grade timer relays. The real ones are expensive, the chinese knockoffs are cheap and a bit sketchy and probably a bad idea.
And then there's the gray area of the DIY electronic modules you can get from scads of chinese vendors on ebay.
This, for example, is a circuit found in every electronics textbook printed in the last 40 years:
http://www.ebay.com/itm/281577362667It won't power your glow plug circuit directly, but it'll power a relay that will. Sometimes you get a dud from these guys, so at $3, buy two.
It's not waterproof and will need to be secured somewhere. Glue a chunk of cardboard to the back side and zip tie it to something behind the dash maybe.
There are a ton of products like that. search for "12v timer relay".
If it says "Omron" on it, comes from the far east, and costs less than $50, it's fake, and the above totally honest circuit is probably a safer bet.