TammieN I believe yes there is! I just tried it myself and it works.
First your tenant needs to be upgraded to storing whiteboards in OneDrive. As long as this has happened (either by opting in by your IT Admin or through Microsoft forcing the update on your tenant then it's possible.
When you create a whiteboard then you beomce the owner and so that Whiteboard is now stored in your OneDrive inside a folder called Whiteboards. If you delete the whiteboard then the file is deleted from your OneDrive. But you can recover that file. Just open OneDrive in your web browser, navigate to Recycle Bin and then find the whiteboard file. Select the file and then select Restore. That puts the whilteboard file back in your OneDrive folder called Whiteboards and you should then see the whiteboard available again in the Whiteboards app.