yes, they do make touch up paint for bikes. I do not know what type you ride but specialized makes some as does bianchi. It comes in little bottles, much like finger nail polish.
when the paint chipped on my road bike, I first used a very tiny amount of auto anti rust (I spray paint this on a sheet of paper and use a small brush to paint it on my frame) and then put the paint on. I don't ride a specialized but I've used their paint--it is very close in color.
On my old mtn bike, I was told by a bike mechanic to just use nail polish...it was the same color as my ride and that has worked fine for 10+years.
either method does not look as smooth up close, but it protects my frame.
if the mark is really bad, you could check into getting your bike repainted by a local frame builder.
Check w/your lbs...if no luck, check with bike manufacturer.
I hope this helps