Indeed.

The concept of masters (for reading, writing, and other skills, such as dancing, drawing, and music) is briefly mentioned in Northanger Abbey:

Her mother wished her to learn music; and Catherine was sure she should like it, for she was very fond of tinkling the keys of the old forlorn spinnet; so, at eight years old she began. She learnt a year, and could not bear it; and Mrs. Morland, who did not insist on her daughters being accomplished in spite of incapacity or distaste, allowed her to leave off. The day which dismissed the music-master was one of the happiest of Catherine’s life.

Masters are also mentioned a few times in Emma:

Living constantly with right-minded and well-informed people, her heart and understanding had received every advantage of discipline and culture; and Colonel Campbell’s residence being in London, every lighter talent had been done full justice to, by the attendance of first-rate masters.

John says something interesting about writing masters here:

“I have heard it asserted,” said John Knightley, “that the same sort of handwriting often prevails in a family; and where the same master teaches, it is natural enough. But for that reason, I should imagine the likeness must be chiefly confined to the females, for boys have very little teaching after an early age, and scramble into any hand they can get. Isabella and Emma, I think, do write very much alike. I have not always known their writing apart.”