Hi-
Yes, there are Waldorf teacher training programs.
On the East Coast there is Sunbridge College in Spring Valley NY. And, there
is Antioch in Keene NH.
On the West coast there is Rudolph Steiner College in Fair Oaks CA.
I think the pre-qualifications vary depending on whether you will study early childhood, or teaching for the grades, or for high school. I think most
people going into Waldorf teacher training already have some teaching experience and a degree under their belt... but I'm sure thats not the case for all.