None specifically as far as I know, and most manufacturers say you shouldnt, but many people - myself included - do so with complete success. The key to success is ensuring that the surface you are applying the paint to has dried completely, otherwise the paint just floats off again with the rising tide. A good drying day - warm, sunny and a moderate breeze gives the best results. Washing off with fresh water helps.
I have used various makes over the years, some of which specify a minimum time before immersion, and have never yet had a failure.
I agree with Oldharry, have never had a failure yet. In my part of the world a early high water gives a nice rise, low water in the early afternoon and a good period to have a go at it. If you are tight for time get a rubber dinghy and start scrubbing as the tide falls, one (or two) of those cam operated suction devices can help you to grasp the hull as the tide goes down. I manage one coat and an extra lick around the waterline, on a 32 footer.
Agree with the others, in particular we used Blakes but any will do. We used to dry out on two tides. Sat dry out, pressure wash the bottom clean, scrape off any loose bits, apply primer where needed, change anodes and oil in the saildrive. Sunday, use the pressure washer to rinse off then apply antifoul.
Done it several times with 100% success. If really pushed for time then hire a gas blowtorch, attach to galley gas supply & after freshwater blast off, go round with blowtorch in one hand & paint roller in the other. Hull dries out v.quickly, paint goes on like a goodun & dries like a rocket. Have managed 2 complete coats on a 26' long keel in one tide, although of course the arms fall off as soon as you stop!
Enjoy!!