Yes. There are some examples. Children of King Rishabhdeva became Brahmana.
S.B. 5:4:13.In addition to these nineteen sons mentioned above, there were eighty-one younger ones, all born of Ṛṣabhadeva and Jayantī. According to the order of their father, they became well-cultured, well-behaved, very pure in their activities and expert in Vedic knowledge and the performance of Vedic rituals. Thus they all became perfectly qualified brāhmaṇas.
Descendants of King Dhrshta became Brahmanas.
S.B. 9:2:17.Manu also had a son known as Dhṛṣṭa, from whom another sect of kṣatriyas was generated, but although they were born of one who had the qualities of a kṣatriya, they became brāhmaṇas."
Raibhya, son of Sage Vatsara and grandson of Rishi Kashyapa had shudra children.
Kurma Purana Part 1: Chapter 19:4. From Vatsara were born Naidhruva and Raibhya of very great fame. The sons born from Raibhya were shudras who were the most excellent among the knower of vedas.