Yes. There is a Mulan II which was released directly to video and DVD on February 1, 2005. There is also possibly a Mulan III in the works.
Summary and spoilers ahead:
There is a section of the film which depicts Mulan training young children in the martial arts.
Mulan and Shang are planning to get married, but are sent on a secret mission before the wedding.
Ming-Na Wen (who goes by just Ming-Na now) returns as the speaking voice for Mulan. In fact, most of the original cast returns, including B.D. Wong, Lea Salonga, Freda Foh Shen, Soon-Tek Oh, June Foray, George Takei, Harvey Fierstein, Jerry Tondo, Gedde Watanabe, and Pat Morita.
Mark Moseley is Mushu. He has voiced Eddie Murphy's roles for Mulan and Shrek related videogames.
The three princesses are voiced by Lucy Liu, Sandra Oh, and Lauren Tom. Judy Kuhn is the singing for one of them.
Figure skater Michelle Kwan voices a shopkeeper. (Read the "Good as Gold" 9/17/02 or "Her star still shines" 9/19/02 articles.)