Yes, it's called passive sonar.

Not only that, the US Navy has an array of hydrophones (underwater microphones) across the globe that can not only pinpoint the location of virtually every ship/sub in the world but have developed extraordinarily sophisticated algorithms to decode the unique acoustic signature of every ship. Said another way: all ships emit sound (engine, prop moving through water, etc.) and every ship (even ships made from the same design/blueprint) have enough unique differences that result in slightly different sounds when in operation.

Fun fact: this system has also been used to track whales - groups of whales and individual whales with their unique acoustic ID.