Yes, there is. Not sure; it may only be a summer service. There appears to be one bus a day direct, but there are three from Cala Millor, according that is to a timetable I have from the operator Aumasa. Price is 6.40 euros. Not sure about time, but I know it goes all over the place, so probably an hour and a half. There is a website - http://www.aumasa.info