Yes, Boba Fett escaped from the Sarlacc and is alive as of 41 ABY, 37 years later. There is a Novel with the story of Boba Fett escaping the Sarlaac, I can't remember the name though. There is also a figurine of Boba Fett with damaged armour due to escaping the Sarlaac, though it is very rare!!
He also survived another 2 falls into the Sarlacc. Fett has a fasinating story after ROTJ which takes him on many adventures.