No, there isn't.

We are talking about a module that wraps the IFrame tag. 

The only magic we are able to do is to alter the querystring parameters of the inner url, so you are able to pass for example user's id or user's name as a parameter. Url parameter had allowed also to set the url in the iframe via querystring. As this might be used for an attack, this feature was removed in the current releases and will never come back.

There is no built in communication, at least not build in. 

If you want more, please share your ideas, provide code and show us examples.