Yes.
1. In the Śiva-purāṇa: Pippalāda Muni.
Chapter 24 - Pippalāda incarnation of Śiva, Śatarudra-saṃhitā,
Śivamahāpurāṇa
Nandīśvara said:—
O great sage, after saying this the celestial voice stopped. On hearing that voice the wife of the sage was surprised for a moment.
That great chaste lady, Suvarcā, desirous of attaining the world of her husband sat down and broke open her belly with a stone.
The foetus of the child of the great sage! of brilliant divine body, came out of her belly illuminating all the ten quarters.
O dear, it was the incarnation of Rudra himself born of the sage Dadhīci. He was competent to perform his divine sports. He therefore
manifested himself.
to 49. On seeing her son of divine form, the beloved wife of the sage
Suvarcā realised in hef mind that it was the incarnation of Rudra
himself. The great chaste lady became delighted, bowed to him and
eulogised him. O great sage, that form of the child was impressed on
her heart.
Suvarcā of pure vision, the mother, desirous of going to her husband’s region, smilingly and lovingly spoke to her son.
...
After consecrating the refulgent child and the fig tree who became the father of Rudra, Viṣṇu and other gods eulogised him again.
The delighted Brahmā named him Pippalāda. Viṣṇu and the gods said “O lord of the gods be pleased”.
After saying this and making great jubilation, Brahmā, Viṣṇu and the gods went to their respective abodes.
Then Rudra, the great lord in the form of Pippalāda, performed a penance for a long time at the foot of the fig tree, with a desire to
bestow benefit on the worlds.
As Pippalāda, following the convention of the world, performed the penance, a long time passed by.
English Translation by J.L. Shastri
2. In the Mahabharata: Shiva as a Child sits on Uma's Lap
This happens around - after the Tripura destruction incident. Shiva, as a child, paralysed Indra-deva's hands.
Section CCII, Drona-vadha Parva, Drona Parva
While the triple city commenced to burn, the goddess Parvati repaired
thither to behold the sight. She had then on her lap, a child having a
bald head with five clumps of hair on it. The goddess asked the
deities as to who that child was. Sakra, through ill-feeling
endeavoured to strike that child with his thunderbolt. The divine lord
Mahadeva (for the child was none other), smiling, quickly paralysed
the arm of the enraged Sakra. Then god Sakra, with his arm paralysed
accompanied by all the celestials, speedily repaired to the lord
Brahma of unfading glory.
Bowing unto him with their heads, they addressed Brahma with joined
hands and said,
’some wonderful creature, O Brahma, lying on the lap of Parvati, in
the form of a child, was behold by us but not saluted. We have all
been vanquished by him. We, therefore, desire to ask you as to who he
may be. Indeed, that boy, without fighting, has with the greatest ease
vanquished us all with Purandara at our head.'
Hearing these words of theirs, Brahma. that foremost of all persons,
acquainted with Brahma, reflected for a moment and understood that boy
of immeasurable energy to be none else than the divine Sambhu,
Addressing then, those foremost of celestials with Sakra at their
head,
Brahma said - 'That child is the divine Hara the Lord of the entire mobile and
immobile universe. There is nothing superior to Mahesvara. That Being
of immeasurable splendour who was beheld by you all with Uma, that
divine lord, had assumed the form of a child for Uma’s sake. Let us
all go unto him. That divine and illustrious one is the Supreme Lord
of the world. You gods, you could not recognise that master of the
universe.'
English Translation by K.M. Ganguli
3. Linga Purāṇa: Shiva as a child to pacify goddess Kali
To kill the demon Dâruka (who could be only killed by a woman), goddess Kali manifested but becomes uncontrolled after slaying the demon. Then Shiva assumes the form of a crying child, whom she breastfed and later on, Shiva performs the Tandava dance to pacify the goddess completely.
Chapter 106, Part 1, of the Linga-purāṇa.
आज्ञया दारुकं तस्याः पार्वत्याः परमेश्वरी । दानवं सूदयामास सूदयन्तं
सुराधिपान् ॥ १०६.१९ ॥
- At the behest of Parvati, the great goddess slew the demon Diruka who used to attack and kill the chiefs among Devas.
संरंभातिप्रसंगाद्वै तस्याः सर्वमिदं जगत् । क्रोधाग्निना च विप्रेंद्राः
संबभूव तदातुरम् ॥ १०६.२० ॥
- O leading brahmins, by virtue of impetuosity, and the fire of anger, the entire universe became agitated
भवोपि बालरूपेण श्मशाने प्रेतसंकुले । रुरोद मायया तस्याः क्रोधाग्निं
पातुमीश्वरः ॥१०६.२१ ॥
- Bhava assumed the form of a boy due to his power of Maya and stationed himself in the cremation ground full of corpses and ghosts,
vara, then cried in order to quell the fire of her anger.
तं दृष्ट्वा बालमीशानं मायया तस्य मोहिता । उत्थाप्याघ्राय वक्षोजं स्तनं
सा प्रददौ द्विजाः ॥१०६.२२ ॥
- O brahmins, on seeing the boy, who was actually Isana the goddess was deluded by his Maya. She took him, kissed him on his head and
suckled him at her breasts.
स्तनजेन तदा सार्धं कोपमस्याः पपौ पुनः। क्रोधेनानेन वै बालः
क्षेत्राणां रक्षकोऽभवत् ॥१०६.२३ ॥
- Along with her breast milk, the boy quaffed up her wrath also and he became the protector of the holy centres.
मूर्तयोऽष्टौ च तस्यापि क्षेत्रपालस्य धीमतः । एवं वै तेन बालेन कृता सा
क्रोधमूर्च्छिता ॥१०६.२४ ॥
- He assumed eight physical forms for his manifestation as the intelligent protector of holy centres. Thus, her excessive anger was
ceased by that boy.
कृतमस्याः प्रसादार्थं देवदेवेन तांडवम् । संध्यायां सर्वभूतेन्द्रैः
प्रेतैः प्रीतेन शूलिना ॥ १०६.२५ ॥ पीत्वा नृत्तामृतं शंभोराकंठं
परमेश्वरी । ननर्त सा च योगिन्यः प्रेतस्थाने यथासुखम् ॥ १०६.२६ ॥ तत्र
सब्रह्मका देवाः सेंद्रोपेंद्राः समंततः । प्रणेमुस्तुष्टुवुः कालीं
पुनर्देवीं च पार्वतीम् ॥ १०६.२७ ॥ एवं संक्षेपतः प्रोक्तं तांडवं शूलिनः
प्रभोः । योगानंदेन च विभोस्तांडवं चेति चापरे ॥ १०६.२८ ॥
- to 28. In order to propitiate her, the delighted trident bearing lord of Devas performed the tandava dance at dusk, along with the
ghosts and leaders of goblins. After quaffing the nectar-like dance of
Siva up to the throat [i.e.alter enjoying the dance of Siva very much]
Paramesvari danced in the midst of ghosts, happily along with yoginis.
Devas all round, including Brahma, Indra and Vişnu, bewed to and
eulogised Kall and then prayed to the goddess Parvati. Thus, the
Tandava of the trident-bearing lord has been briefly mentioned to you.
Others are of the opinion that the Tandava of the lord is due to the
Bliss of yoga.
English Translation by J.L. Shastri