Android - Is there a way to record and playback a set of touches?

I've developed such an app called RepetiTouch. It's currently in beta stage and aimed at developers, but a limited free version is available here. However, it needs a rooted device running Android 2.3 or later.

As far as I know, currently no other app with this functionality exists, but there are some tools/scripts providing such features using a computer and an USB connection, e.g., here.

Anyway, I discourage any use of any such apps or tools for farming.

The only app I know of that works fine is "Android Bot Maker" (XDA link here)

sadly, it can't record the touches, but you can set it manually yourself, by finding out the coordinates by enabling "show pointer location" on the developers category of the OS settings.

HiroMacro Auto-Touch Macro works well for me.