The short answer is: no.

There are a few programs that claim to do it, but they're all quite expensive and I have no experience with them. Quite a few of the score creation and editing programs will accept midi input and write it to a score, but even this is a crap shoot.

The big problem with recording to a score is timing. You may think you're performing in perfect time, but in reality each note you perform is probably a tad short or long - a process that will end up in batches of tied notes of different durations to make up the actual length of the note as you performed it. Not at all pretty on the page.

I've had limited luck with recording my midi keyboard into NoteWorthy Composer, with the quantizing set to quarter note and quarter rest. Even then, if I stray from playing anything other than quarter notes, the result is mixed. And, the truth is I'm not a good enough pianist to play for any length of time strictly in time with a metronome beat.

All in all, unless you're willing to spend big bucks (or pounds or whatever) for a program that MAY OR MAY NOT do the trick, I'd advise you use one of the inexpensive scoring programs and enter your music manually.