Waheguru JI Ka Khalsa Waheguru Ji Ki Fateh,
the answer to your question is no, and moreover, even an audio recording of Bhai Sahib Ji does not exist.
A singh who used to be a sathi of Bhai Sahib (still alive) once narrated to the sangat that each time he asked bhai sahib ji to record him, Bhai sahib ji would refuse and would tell him to leave such "unrewardeed work" and to focus on Gurbani. This Gursikh was very eager to record bhai sahib ji so when he brought a recorder, it didn't work. Next time, he tried again and when he turned on the recorder, it burst with a gust of smoke coming out. So basically, it can be concluded that Bhai Sahib Ji was against recorded kirtan and thats why others did not record him.
Waheguru JI Ka Khalsa Waheguru Ji Ki Fateh
ਸਤਿਗੁਰਬਚਨਕਮਾਵਣੇਸਚਾਏਹੁਵੀਚਾਰੁ॥