Yes, most motor manufactueres have motor sizing programs.Is there a tool/formula for estimating required stepper torque for a given mass and acceleration requirement?
But with steppers, it gets a bit tricky, as steppers lose torque, the faster they spin. So you need to know how fast it will be spinning at max speed, and then figure out how much torque it will have at that speed. That depends on power supply foltage, microstepping, and the specific drive you are using. In an industrial environment, they'd probably have about 50% more torque in reserve, to prevent lost steps.