Yes. Wealthy Greeks and Romans from the 5th century BC onwards might wear what is known as a muscle cuirass, shaped to fit and resemble a well-developed human torso (nipples and all). This is a typical feature of statues of Roman emperors in military dress. There are some neat examples in museums all over the world.

There's an older discussion about the uses and types of muscle cuirasses between myself and u/WARitter here.

There is a paining from the Renaissance called "The Battle of Nineveh." It is by Piero della Francesca, an artist who passed on in 1492.

If you look at the front of the painting, a foot soldier wearing such armor is either taking a man prisoner or getting ready to run him through with a tuck. Behind this foot soldier is a horseman wearing such a muscle cuirass.

This sort of armor would mark a man of means, even if he was not on a horse.

The painting is about a 7th Century event, but the artist showed the soldiers of Heraclius and the Persians with arms and gear of 15th Century Italy.

https://en.wikipedia.org/wiki/Battle_of_Nineveh_(627)#/media/File:Piero_della_Francesca_021.jpg