Yes — but they are harder to trace historically than male teachers.
Most surviving texts were written by men, and male lines of transmission were more frequently recorded in manuscripts. As a result, women may have played important roles within particular traditions while leaving far fewer written traces.
Who Were Yoginis and Dakinis?
In different Tantric traditions, the terms Yogini and Dakini could refer to goddesses, spiritual beings, or actual female practitioners.
Buddhist Tantra preserves accounts of women who were regarded as accomplished teachers and transmitters of specialized practices. Indian traditions include figures such as Lakshminkara and other women associated with the transmission of Tantric teachings.
However, caution is important. Some of their biographies survive mainly through later religious narratives in which historical memory and legend are closely intertwined.
Why Do We Know So Little About Them?
The historical archive is not neutral. If a society recorded the names and careers of men more often than those of women, then a thousand years later it may appear as though women were barely present.
That is not proof of ancient equality — but neither is it proof that women were absent.
Women could be disciples, ritual specialists, and spiritual teachers, but their actual roles often have to be reconstructed from fragmentary evidence.
And this makes the next question especially important:
If a religion worships the Goddess, does that necessarily mean real women gain greater power?