There are several tools which can do what you want. Some electronic flight computers will perform the calculation, and here is a mechanical one which will: https://www.mountainflying.com/products/apr_304
Ed Williams has a graph, which is almost linear, showing the impact on BHP with differing DENALT. See page 6, http://edwilliams.org/smxgigpdf/mfly2.pdf
Essentially ROC is a nearly linear function of excess HP, so you could use the slope of Ed's chart to predict your climb rate at varying DENALT.
Addendum 1: Approximate figures I use for NA aircraft are:
Time Fuel Distance +10% for each 10C
TO roll +10% for each 1000ft DENALT
ROC -10% for each 2000ft DENALT (a conservative number, as 7% is probably more accurate)
ROC -10% for each 20C (also conservative, as 7% is probably closer)
These are just generalized performance figures I use, and I do not supply their derivation, etc. Check them against the POH / AFM or manufacturer test data for your aircraft.
Addendum: This article, while it disagrees with my generalized TO roll estimation, may provide some supplemental understanding: https://www.flyingmag.com/technique/tip-week/calculating-density-altitude-pencil