There are a few, but no actual 'TomTom':
co-pilot
navigon
Sygic mobile maps
iGo MyWay
I use Sygic, mainly because it's easy to import SCDB/PGPS cams into and it's fast. Co-Pilot looks the nicest and has quite a few good features, like live traffic.
Go to the android section here: http://www.ipmart-forum.com/ and use the search for Sygic, Co-Pilot etc..... Latest cracked versions with maps. Loads of other stuff too.