Yes, a hydrogen powered "generator"/electric truck is what is being developed by GM and Navistar planned to be in broad trials with JB Hunt next year.
The key technology is hydrogen fuel cells, which is basically a way to have the hydrogen fuel create electrical energy to drive an electric motor. The exhaust products are water and no harmful emissions. No batteries needed, as the energy is not being stored, it is being generated by the fuel at the time it's needed; which is basically what we do now with ICE technology. It really is a genius system and much simpler than ICE.
Ballard Power Systems out of BC, Canada has been a global leader in this technology, working on fuel cells since the early 80's. It has taken that long to develop and refine, and is still not in wide production yet. Maybe it's finally the right time for fuel cell technology, or maybe there is something else that will win out.
One of the biggest hurdles is that while hydrogen exists all around us (most obviously in water), it takes a lot of energy to separate hydrogen from the other atoms. I don't know the details of the science, but from my layman's POV it seems like the net energy gain is very small or perhaps even negative. But that didn't stop the broad development of ethanol, which is only popular because there is enough government push and subsidies behind it.
Hydrogen Fuel Cells are an interesting alternative that is already capable of delivering the energy needed for long distance heavy hauling. The infrastructure for fueling and hydrogen extraction are the pieces that seem to be next in development.
B