Not really. There are plenty of companies that provide this kind of service, but it is not recommended to have a third party spend weeks writing up documentation which is really an "insurance policy" in case things go wrong.
As discussed in this chapter, writing the documentation is only the first step of a DR plan. It also needs to be set up, improved, and executed.
These resources need to be internal where management has direct authority over, them rather than through an account manager of the vendor. The DR plan needs to be internalized versus an adaptation of someone's ideal process or conceptual notion.
Do not delegate this role to an employee (or a summer intern…yes this has been witnessed) who has never written a complicated technical publication before, and who may lack the authority and leverage to do it well. Ironically, the writing of online documentation is often entrusted to the same administrators who write cryptic screens...