Yes, there are a couple of tools for that job, one that looks similar to a big corkscrew and another like a two pronged fork, come to think of it a bulb planter should do the job as well. Another method is to use a selective weed killer such as 'verdone' Good Luck Tbird+
The best thing I have used is an old fashioned V shaped solid handled potato peeler from the pound shop. Much better than specialist extortionately priced numbers, in my humble opinion.
You can kill dandelions overnight with a bit of ordinary tablesalt right in the middle. The next morning they will already be curling up.
If you have large dandelions removing them with tools or killing quickly with salt is going to leave unsightly bare patches.
One of the selective broadleaf sprays is then a good alternative as they are slow-acting and during the 2 weeks or so that it takes to kill the weeds, you can sow grass seed and have that growing while the weeds die.