Yes. The basic method is listen and repeat with variations thrown in. You might be able to get the old FSI recordings for free, and I think there’s a commercial remastering or something like that available for sale. I got those out of curiosity at one point. Pimsleur is an updated version of the same approach with better structure, better voice actors, and in the most updated version available as an app/application.

I’m going off of memory here, but they’re a series of about 3-5 courses (the most popular languages go further) of 30 hour long sessions each, and I would do them while commuting. It would generally take me a few times to get through each course, but it’s really remarkable to think about how in the first course (and many after) what starts out sounding like a string of completely undifferentiated sounds turns into language. At some point some dial really starts to turn and you’ll have your first dream in Spanish or whatever. It’s pretty amazing.