Yes, but finding out who they are and how to contact them is pretty difficult. From 2005 until at least 2018, the Chief Historian was David S. Robarge. I have no clue if he still is; one can comb through the unclassified excerpts of their history journal, Studies in Intelligence, and the biographical notes sometimes say that someone is the Chief Historian (which is where I got Robarge's name from). If you want to contact him or his successor (if there is one), you should do it through the CIA's Office of Public Affairs.

Not all federal government agencies maintain history offices, but many do. The size, purpose, and accessibility of them varies dramatically by agency.