Sure, there is this book "The Lazy Dungeon Master" ( http://slyflourish.com/lazydm/ ). Dungeon World also has advice on how to do something similar with its "Fronts" ( http://www.dungeon-world.com/ ).

The writers of The Expanse based their books off of role-playing sessions they did. George R.R. Martin also was an avid role-player. I believe his Wildcards novels were based on his games in the RPG Superworld.