Not right now, but you should be able to put something together in a custom context that does this through ASTDB manipulation.
Procedurally, you can use attended transfer so that when the call goes to VM, you just snap it back.
From a system level, I don’t remember if there’s a way to do that or not. I know we talked about it as a feature a couple of years ago, but I don’t recall if we ever got traction on that.