Yes, if you go to the admin console, on to the "People" tab, you will see an option to "Rest Multifactor". Select that and then select the user(s) you wish to reset. This will reset all MFA's associated to that user, and they will need to re-register each used.
We also recently introduced enrollment policies for Okta MFA. The new enrollment policies allow you to require users to setup redundant factors, and specifify which factors are required, optional, and unavailable based on the user's group membershpis. For example, you could require most users to setup both Okta Verify on their smart phone and Yubikey - but disable Okta Verify and SMS for a call center employee who is not allowed to bring a personal device into the office, or even enable SMS for domestic users, and disable SMS for international users.
If you have more questions on our MFA product join our "Ask me Anything" session on 10/15 at 10 AM PT. I will be hosting an open Q&A on Okta Mobility Management, Adaptive MFA, and other topics. You can learn more here: bit.ly/1joCz1Q