Is there any way to heal a tree that has been stripped of bark?

If only the surface bark is stripped, it will heal itself. If the damage is into the first layer of wood youmay need to bandage it similar to a human wound. Wrap the area with a cloth and tape it up. (I use cheap Duct Tape so the sun destroys it in about a year) For sensitive plants (roses for example) you may want to soak the cloth in wax to make a nice seal around the wound. Even if the bark is damaged all the way around the branch, it will still heal in time. If the first layer of wood is removed all the way around for more than an inch or so the branch is better removed.