Only if you have the history on the object. Once you bake it, freeze the transforms or combine it with another object, it loses the orientation it began with. If that is the case, and the object is currently at 0,0,0 in the rotation axis, history is the only way to get it back.
If you are at that point, you would have to adjust by eye...
It is good practice to always duplicate objects and hide them as 'spares'. You'll be surprised how often that saved spare part will bail you out of trouble. Another trick is to always rotate things by an even number, that way if you have to return it by eye, it is easier to re-line up.