Yes, hold the OPT key while clicking Shutdown from the top left Apple menu. Pressing OPT while in the Apple menu changes "Shutdown..." to "Shutdown"
"Shutdown..." has the delay
"Shutdown" no delay
When you hold OPT and then click on Shutdown, it immediately closes all apps and shutdown with no user intervention or delays (no annoying dialog box). Same goes for Restart. OPT + Restart is immediate restart.
And it is faster than holding the power button