Yes, there are a great many, especially in spoken language and in regional and archaic dialects. On average, there are more Turkish terms in spoken Armenian than Armenian in Turkish, and many many more that came from Persian into both Armenian and Turkish and many other languages, including English. Quite simply, Persian and Turkish were regional lingue franche in recent history.
The Armenian words in Oghuz Turkish are mostly for native plants and foods, especially in certain regions, and for technologies, for example in weaving, construction, architecture. There are also a few Armenian words that entered Turkic languages long ago via the Silk Road, (for example, the word for example), and words from other Turkic languages that entered Armenian from the North.
On the other hand, literary Armenian - since the year 405 CE - has essentially no Turkisms, beyond those for specific cultural concepts like English has (dolma, pasha) - keeping in mind that divan, sultan and so on are actually from Persian and Arabic. The exception would be a few words like տաւար (cattle). Interestingly, many Armenian family names have Turkic components too, especially those based on professions (basturmaci, saatci, demirci).
There are also words like zağar (hound) that are common to the region but of unknown origin. (Some of the ancient Anatolian words even made it into English, for example chestnut and cherry.)
As an aside, an Armenian was the father of the Turkish Language Association, which created modern literary Turkish and was responsible for cleansing it of many non-Turkic words, and an Armenian compiled the index of Turkish toponymic etymologies and a leading Turkish etymological dictionary.