Yes, a manga series was written and drawn by Nobuhiro Watsuki. It ran in Weekly Shonen Jump from April 11, 1994 to November 4, 1999 and was published by Shueisha in Japan. It was serialized into 28 volume books. It was then published by Viz Media in North America, by Madman Entertainment in Australia and New Zealand, and by Gollancz Manga in the United Kingdom.