Yes, check out 'Splashtop Remote'. There's a ton of different apps, Splashtop Remote, HD, THD, Gamepad, it's is a little confusing, but I currently use Splashtop Remote because it has a nice control of the 'image quality' so you can get more fps but at the cost of image quality. If you have a non-tegra 3 phone, splashtop remote is your best choice.
If you do have tegra 3 phone, the Gamepad and THD version of the app has optimizations for full screen support (windowed-maxed is of course supported everywhere). Also, i think they leverage geforce gfx cards on your server that's streaming if you have it.
Worth checking it out, if you have wifi, it works great. 4g, not bad (pretty good if you have a good signal), 3g, I don't think you will have good results.