Yes. There are Quranic verses as well authentic Hadeeths.
'Quranic verses mentioned the similarity between Prophet Muhammad (SAWA) and Prophet Musa (AS) (Verily, We Have Sent to you a Messenger (Muhammad) , who will witness on you, as We sent Musa to Pharaoh as a Messenger) (Sura Al-Muzzammil, verse 15. The successors of Musa were twelve as we read in a Quran (Sura Al-A'raaf, verse 160). These two verses show that as Musa (As) had twelve successors, Muhammad (SAWA) will have twelve successors.
'Authentic Hadeeths narrated in Shia and Sunni books including Bukhari, Muslim , Tirmithi, Musnad Ahmad Bin Hanbal, Mustadrak of Al-Haakim and many others mentioned that the successors after the Prophet Muhammad (SAWA) will be twelve .
'Wassalam.