Yes, there are lots of famous examples. E.g. John Chowning invented FM synthesis for musical applications but had to assign the patent to Stanford where he work

Yes, there are lots of famous examples. E.g. John Chowning invented FM synthesis for musical applications but had to assign the patent to Stanford where he worked as a researcher: "The FM patent produced about $22.9 million in royalties for Stanford University (largely via the sale of FM chips for soundcards)." With a patent date of 1975 and a duration of 20 years, they must have received royalties until 1995 off every OPL family chip (used in Ad Lib, Sound Blaster, etc) and all the Yamaha instruments based on FM synthesis (I believe Yamaha had an exclusive license in that market). That's just one particular example I happened to remember, but every tech-focused university probably has a large portfolio of these sorts of patents.