Is there a semi truck with two axle's but has only one drive axle?

You mean with tandem axles, or with just two axles total?

In the case of having two axles at the rear, yes. This is pretty common in Europe, where a standard 2x4 tractor will have an additional tag or pusher axle in order to reduce wear on roadways.

In the US, it isn't so common, but it's not unheard of. I know Schneider National used to run some Freightliner Argosy COEs which had a single drive axle and a tag axle behind it.. when backing, the driver could raise the tag axle, and it would shorten the overall wheelbase of the power unit, allowing for tighter turns to be made.