Other than adequate rest and proper diet, no. I've been lifting for years and still get delayed onset muscle soreness once in awhile. You could try Anaconda, they claim you can train more with it.
Theoretically DOMS can be prevented by just limiting the concentric and ismoetric contractions of an exercise, but this is not possible in all movements of course. In my experience though, just keep training through it. You will get stronger and more adapted to your program, it is normal.
Google search "DOMS" if you would like to learn more about what you are experiencing.