Yes it does. It's called "Hidden Service" and you get a *.onion address ( https://www.torproject.org/docs/tor-hidden-service.html.en )

Although you cannot control what DNS name is given, so it's not a full DNS drop in.

this is not really a name, it is generated key/address/whatever. namecoin allow you to choose name, where in hidden service subsystem you can generate one (although, you probably can setup key generator to get desired name... like vanity bitcoin addresses..)