Not as far as I'm aware. I once spent several hours trying to track down recordings. They did make the plays available on their 'listen again' service for a week after each episode and I believe it was possible to download them if you knew how to - I didn't.
A légpárnás hajóm tele van angolnákkal
"Coffee. The finest organic suspension ever devised. I beat the Borg with it."
- Capt. Kathryn Janeway