Melodyne
The Celemony Melodyne family of products can achieve this, among other functions. The products are expensive but they are the state of the art.
From the website:
What Melodyne is
Melodyne is a program for your Mac or PC that offers truly extraordinary possibilities for the editing of audio. For Melodyne recognizes the notes that are sung or played in your recording and shows them to you. It’s almost like the recording turns into sheet music again.
