The Data Mapping Application Block
What do I mean by "kind of"? There are no objects here, unless you like typed datasets, and you're required to use stored procs, which is great if it were just an option. But if you like to use your own objects and/or want to avoid the bloat of datasets and/or enjoy the flexibility and maintainability of runtime generated dynamic sql, then you won't find what you're looking for in the Data Mapping Application Block.
Of couse, if you follow all of Microsoft's "guidance", and are already using the Enterprise Library, then this is probably exactly what you have been dreaming about.