Yes, there are several bus companies that shuttle between Krakow and Auschwitz. The ride takes about 1,5 hours and the ticket price is up to 15 PLN. You can also go by train to Oswiecim, it takes 2 h and costs around 20 PLN. There are also many companies providing private tours with a guide. The price varies depending on the company and the ride takes around 1h 10 min.