Yes. Several photographic processes have produced direct positives on reflective surfaces or paper.

Historically, daguerreotypes made an image on silver-plated copper that appears positive because of the polished reflective surface. Related early processes included ambrotypes and tintypes.

Later, direct-positive and reversal processes were used to make reflective prints on paper. In black and white, direct positive paper has been made specifically for camera exposure and processing into a paper positive. It can also be possible to get a positive from some regular negative paper by using a reversal process.

For color, Ilfochrome was a well-known positive print material for making color prints from positive transparencies, though it has been discontinued.

Practically, camera-exposed paper positives are most often used in large-format cameras, since smaller formats would produce very small prints.

So the short answer is: yes—both historically on metal/glass-like supports and later on photographic paper, including dedicated direct-positive papers and reversal-based methods.