Apple - I forgot the passcode for my iPad restrictions. How can I disable them?

The short answer is no.

The long answer is wipe the device and then start over. If you have a backup, hopefully it's from before the restrictions were set.

There's a tool that can recover the restrictions passcode from a device backup, called pinfinder. Download the tool at the pinfinder github page, make an unencrypted backup and follow the instructions.